CN114485445B - Large-scale structural space deformation measuring device and method capable of achieving nonlinear obstacle-crossing transmission of reference beam - Google Patents
Large-scale structural space deformation measuring device and method capable of achieving nonlinear obstacle-crossing transmission of reference beam Download PDFInfo
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- CN114485445B CN114485445B CN202111671881.6A CN202111671881A CN114485445B CN 114485445 B CN114485445 B CN 114485445B CN 202111671881 A CN202111671881 A CN 202111671881A CN 114485445 B CN114485445 B CN 114485445B
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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
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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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- 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
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Abstract
The invention relates to a large-scale structural space deformation measuring device and method that reference light beam can pass through obstacle non-linearly, including space reference transmitting unit and space pose measuring unit, both adopt the split type structural design, has increased the flexibility of the apparatus, have stronger expansibility based on serial structure at the same time, the space reference transmitting unit adopts the cross line structural light as the reference light beam, provide the space pose measuring reference, the space pose measuring unit can measure the space deformation relative to reference light beam; the space reference transmitting unit and the space pose measuring unit are matched to realize measurement reference transmission, and can be used for large-scale structural space deformation measurement under the condition that the measurement reference and the measurement end are not in communication due to obstruction of an obstacle; the image sensor is fixed with the image receiving screen, so that the problem that the system measurement accuracy is reduced along with the measurement distance in the traditional space deformation measurement technology based on photogrammetry is avoided.
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 structural space deformation measurement device and method capable of achieving nonlinear obstacle-crossing transmission of reference beams.
Background
The space deformation measurement technology based on laser and machine vision is widely applied to occasions such as large-scale structural space deformation measurement, large-scale structural health monitoring and the like.
Currently, commonly used spatial deformation measuring equipment includes measuring equipment such as a laser tracker, a total station, a monocular or binocular photogrammetry, and the like. The laser tracker, the total station and other equipment are high in price and low in measurement speed; the monocular or binocular photographic measuring instrument has the advantages that the measuring precision is reduced along with the increase of the measuring range, and the high-precision measurement of a large-size space cannot be realized; and the measuring light paths of the laser tracker, the total station and the monocular or binocular photographic measuring instrument are easily affected by obstacles, so that obstacle-crossing measurement cannot be realized under the condition that the measuring reference and the measuring point are not in communication.
Therefore, in the field of large-scale structural space deformation measurement and large-scale structural health monitoring, a large-scale spatial structure deformation measuring device which is general in price, high in measuring precision and capable of transmitting measuring reference beams in a nonlinear obstacle-crossing manner is urgently needed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a large space structure deformation measuring device capable of nonlinear trans-obstacle transmission of a reference beam, which is used for large structure space deformation measurement and large structure health monitoring.
The invention solves the technical problems by the following technical proposal:
a large-scale structure space deformation measuring device that reference beam can be passed non-linearly strides obstacle, its characterized in that: comprises a space reference transmitting unit and a space pose measuring unit,
the space reference emission unit comprises a mounting base, a cross line laser generator, a laser range finder, a positioning reference table, a V-shaped positioning table and a light-transmitting window, wherein the laser range finder and the V-shaped positioning table are fixedly installed on the mounting base, the positioning reference table comprises two positioning end faces which are parallel to each other and perpendicular to the mounting reference surface, one edge of the laser range finder is in contact installation with the one positioning end face, the cross line laser generator is in positioning installation on the V-shaped positioning table, one face of the V-shaped positioning table is in contact installation with the positioning end face, and the front end of the mounting base is provided with the light-transmitting window;
the space pose measuring unit comprises a mounting base, a laser spectroscope, a plane reflecting mirror A, a plane reflecting mirror B, a plane reflecting mirror 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 mounting base to serve as positioning end faces, the laser spectroscope and the positioning edges are arranged at 45 degrees, the plane reflecting mirror A is arranged at the rear end of the laser spectroscope and is arranged at 45 degrees with the positioning edges, the plane reflecting mirror B is arranged parallel to the plane reflecting mirror A and is arranged at 45 degrees with the positioning edges, the plane reflecting mirror C is perpendicular to the plane reflecting mirror B and is arranged at 45 degrees with the positioning edges, the laser receiving screen A and the laser receiving screen B arranged on the mounting base are used for receiving cross facula 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.
Moreover, the cross laser generator of the space reference emission unit adopts cross line structured light as a reference beam to provide a space pose measurement reference.
And the space reference transmitting unit is fixedly connected to the upper surface of the space position and posture measuring unit, the space reference transmitting unit and the space position and posture measuring unit form a reference beam transmission unit, the space position and posture measuring unit can measure horizontal displacement, vertical displacement, yaw angle displacement, pitch angle displacement and roll angle 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 transmitting unit.
And the laser receiving screen A and the laser receiving screen B are made of transparent acrylic plates, and the outer sides of the laser receiving screen A and the laser receiving screen B are coated with nanometer diffuse reflection coatings.
Furthermore, a mechanical housing is arranged on the mounting base; the mounting base is provided with a mechanical housing.
The large-scale structural space deformation measurement method for nonlinear obstacle-crossing transmission of the reference beam is characterized by comprising the following steps of: the method comprises the following steps:
1) Measurement installation preparation: connecting the space reference emission unit with an industrial personal computer, fastening and installing the space reference emission unit on a tripod, placing the tripod 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 transmitting unit, the relation between a space pose measuring coordinate system and a space reference transmitting coordinate system in the reference beam transmitting unit is calibrated in advance, and the reference beam transmitting unit is arranged at a position near an obstacle; placing the 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 measuring units in the device to ensure that the reticle light spots of the reticle laser generator can form cross images on the laser receiving screen A and the laser receiving screen B through the light transmission window;
2) And (3) establishing a space reference emission coordinate system: in the space reference emission unit, a space reference emission coordinate system conforming to the right hand rule is established by taking the projection direction of a cross line laser center as a coordinate system X axis, taking the intersection point of a ranging reference plane of a laser range finder and the X axis as a coordinate origin O, taking an axis passing through the origin in a plane of a cross line transverse axis and perpendicular to the X axis as a Y axis, and taking an axis passing through the coordinate origin and perpendicular to an XOY plane as a Z axis;
3) The space pose measuring unit establishes a self coordinate system: in the space pose measurement unit, one edge along the incidence direction of laser is taken as an X axis, the intersection point of the adjacent edge close to the window and the edge is taken as an original point, the direction which passes through the original point and is vertical to the upward direction of the installation reference plane is taken as a Z axis, and the straight line which passes through the original point and is vertical to the XOY plane is taken as a Y axis, so that a self coordinate system of the space pose measurement unit is established;
4) Laser transmission and reflection optical path: after the incident reticle structure light is acted by the laser spectroscope, one part of the incident reticle structure light is reflected and projected to the laser receiving screen A, the other part of the incident reticle structure light passes through the laser spectroscope and is projected to the laser receiving screen B after being reflected by the plane mirror in sequence, the receiving screen A forms a virtual image through the laser spectroscope, the image sensor A forms a virtual image through the laser spectroscope, the receiving screen B forms a virtual image through a plane mirror group light path, the image sensor B forms a virtual image through a plane mirror group light path, namely, after passing through a measuring light path, two groups of machine vision measuring systems form a parallel and opposite mode, the planes of the virtual images of the receiving screen A and the receiving screen B are perpendicular to an X axis, and the position relationship is fixed;
5) Setting the virtual image plane of the laser receiving screen A as A, setting the virtual image plane of the laser receiving screen B as B, and setting the plane equation as x=x in the coordinate system of the space pose measuring unit 1 Plane x=x 2 After the cross light spot images on the two screens acquired by the image sensor A, B are processed by 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 acquired, the center point of the cross light spot on the virtual image plane of the laser receiving screen A is set as A, and the cross light spot is set as laser receivingThe center point on the virtual image plane of the screen B is B, the spatial position of the screen B in the coordinate system of the spatial pose measuring unit can be obtained after calibration and conversion, and the A coordinate is set as (x) 1 ，y 1 ，z 1 ) The B coordinate is (x 2 ，y 2 ，z 2 ) The cross line slope on the plane can be obtained through measurement by a machine vision system and processed by measurement software, and is set as k;
6) Horizontal and vertical displacement measurement: the center of a cross light spot of cross line 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 point coordinate of the initial time A is set as (x 1 ，y 1 ，z 1 ) After the pose change, the A point coordinate is (x) 1 ’，y 1 ’，z 1 ’)，
Horizontal displacement is Δy=y 1 '-y 1 ；
Vertical displacement is Δz=z 1 '-z 1 ；
7) Yaw angle, pitch angle, roll angle measurements: let the coordinates of the point A at the initial time before the pose change be (x) 1 ，y 1 ，z 1 ) The slope of the cross light spot transverse axis in the virtual image plane (7-3) is k; let the coordinates of point B be (x) 2 ，y 2 ，z 2 ) At this time, the projection of the line segment AB in the XOY plane of the self coordinate system of the space pose measuring unit and the OX axis are at the angleProjection of line segment AB in YOZ plane of self coordinate system of space pose measuring unit and generation of OX shaft clamping angle>
After the pose change, the A point coordinate is (x 1 ，y 1 ’，z 1 '), the slope of the cross spot transverse axis in the virtual image plane (7-3) is k'; let the coordinates of point B be (x) 2 ，y 2 ’，z 2 ') at this time, the angle between the projection of the line segment AB in the XOY plane of the self coordinate system of the space pose measuring unit and the OX axis isProjection of line segment AB in YOZ plane of self coordinate system of space pose measuring unit and generation of OX shaft clamping angle>
Then:
yaw angular displacement Δα=α2- α1;
pitch angle displacement Δβ=β2- β1;
roll angle displacement Δθ=arctan' -arctan.
Therefore, the laser ranging function along the transmission direction of the cross reference light can be combined, and the spatial six-degree-of-freedom deformation measurement of the spatial pose measuring unit relative to the cross reference light beam can be realized.
The invention has the advantages and beneficial effects that:
1. according to the large-scale structural space deformation measuring device capable of transferring the reference beam in a nonlinear obstacle-crossing manner, the space reference transmitting unit and the space pose measuring unit are of split structures, and the flexibility of the device is improved.
2. The large-scale structural space deformation measuring device with nonlinear cross-obstacle transmission of the reference beam can fix the positions of the image sensor and the image receiving screen, and the problem that the system measurement precision is reduced along with the measuring range in the traditional space coordinate measuring technology based on photogrammetry is avoided.
3. The large-scale structural space deformation measuring device capable of realizing nonlinear obstacle crossing transmission of the reference beam has stronger expansibility based on a serial structure, and can realize obstacle crossing measurement of a measurement reference.
4. The large-scale structural space deformation measuring device based on nonlinear obstacle-crossing transmission of the reference beam is simple in structure and low in price, and can effectively solve the problem of high equivalent lattice of a laser tracker.
5. According to the large-scale structural space deformation measuring device capable of non-linearly crossing obstacle transfer based on the reference beam, the laser fixing pressing plate is fixedly arranged at one end of the V-shaped positioning groove, so that 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 structural space deformation measuring device with nonlinear cross obstacle transmission of the reference beam adopts cross line structured light to generate space pose measurement reference, and can realize the measurement of space six-degree-of-freedom deformation by combining a laser range finder.
7. The invention relates to a large-scale structural space deformation measuring device capable of nonlinear obstacle-crossing transmission of a reference beam, wherein a mechanical shell is arranged on a mounting base and used for protecting internal key equipment such as dust prevention, moisture prevention, impact prevention and the like.
8. According to the large-scale structural space deformation measuring device capable of transmitting the reference beam in a nonlinear obstacle-crossing manner, the laser receiving screen A and the laser receiving screen B are 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, so that the clear imaging of cross light spots on the screen is ensured, and the cross light spots can be clearly collected by an image sensor through the screen.
Drawings
FIG. 1 is a schematic diagram of a spatial reference transmitting unit according to the present invention;
FIG. 2 is a schematic diagram of a space pose measurement unit according to the present invention;
FIG. 3 is a schematic diagram of a device for measuring deformation of a space in an unobstructed area according to the present invention;
FIG. 4 is a schematic diagram of the establishment of a spatial reference emission coordinate system according to the present invention;
FIG. 5 is a schematic diagram of the space pose measurement unit of the present invention in its own coordinate system setup;
FIG. 6 is a schematic diagram of a measuring light path according to the present invention;
FIG. 7 is a schematic diagram of a reference beam cross-obstacle transfer spatial deformation measurement apparatus according to the present invention;
FIG. 8 is a schematic diagram of the displacement and angle measurement process of the present invention.
Description of the reference numerals
1-1, a reticle laser generator; 1-2, a laser range finder; 1-3, positioning a reference table; 1-4, V-shaped positioning grooves; 1-5, a laser fixing pressing plate; 1-6, a light-transmitting window; 1-7, mounting a base; 1-8, a mechanical housing;
2-1, a laser spectroscope; 2-2, a plane mirror A;2-3, a plane reflecting mirror B;2-4, a plane reflecting mirror C;2-5, a laser receiving screen A;2-6, a laser receiving screen B;2-7, an image sensor A;2-8, an image sensor B;2-9, laser ranging target planes; 2-10, a cross line laser incidence window; 2-11, positioning edges; 2-12, mounting a base; 2-13, a mechanical housing;
3-1, a spatial reference transmitting unit; 3-2, a space pose measuring unit; 3-3, industrial personal computer
4-1, transmitting a coordinate system origin by a space reference; 4-2 a space reference emission coordinate system X axis; 4-3, a space reference emission coordinate system Y axis; 4-4, transmitting a Z axis of a coordinate system by a space reference;
5-1, the space pose measuring unit is an X axis of a self coordinate system; 5-2, a space pose measuring unit is provided with a Y-axis of a self coordinate system; 5-3, the origin of the self coordinate system of the space pose measuring unit; 5-4, a Z axis of a self coordinate system of the space pose measuring unit;
6-1, incident reticle structured light; 6-2, receiving the 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 a laser spectroscope; 6-4, receiving a virtual image plane B formed by the screen B through the plane mirror group light path; 6-5, forming a virtual image by the image sensor B through the light path of the plane mirror group;
7-1, a reference beam delivery unit; 7-2, a first range finder signal line; 7-3, a second range finder 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, the space pose measuring unit self coordinate system.
Detailed Description
The invention is further illustrated by the following examples, which are intended to be illustrative only and not limiting in any way.
A large-scale structure space deformation measuring device that reference beam can be passed non-linearly strides obstacle, its characterized in that: comprises a space reference transmitting unit 3-1 and a space pose measuring unit 3-2,
the space reference emission unit comprises a mounting base 1-7, a cross line 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 transmission window 1-6, wherein the laser range finder and the V-shaped positioning groove are fixedly arranged on the mounting base, the positioning reference table comprises two positioning end faces which are parallel to each other and are perpendicular to the mounting reference surface, one edge of the laser range finder is in contact with and is arranged on one positioning end face, the cross line laser generator is in contact and arranged on the V-shaped positioning groove, one face of the V-shaped positioning groove is in contact with and is arranged on the positioning end face, a light transmission window is arranged at the front end of the mounting base, and a laser fixing pressing plate 1-5 is fixedly arranged at one end of the V-shaped positioning groove, so that five-point positioning of a laser shell can be realized, and the axial positioning precision of the laser generator in the V-shaped groove is ensured;
the space pose measuring unit comprises a mounting base 2-12, a laser spectroscope 2-1, a plane mirror A2-2, a plane mirror B2-3, a plane mirror 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 serving as positioning end faces are arranged in the mounting base, the laser spectroscope is arranged at 45 degrees with the positioning edges, the plane mirror A is arranged at the rear end of the laser spectroscope and is arranged at 45 degrees with the positioning edges, the plane mirror B is arranged parallel to the plane mirror A and is arranged at 45 degrees with the positioning edges, the plane mirror C is perpendicular to the plane mirror B and is arranged at 45 degrees with the positioning edges, the laser receiving screen A and the laser receiving screen B arranged on the mounting base are used for receiving cross spot images and imaging target images for the image sensor A and the image sensor B, and the laser ranging window 2-10-9 laser range finding windows are arranged on the front end face of the mounting base.
A cross laser generator of the space reference transmitting unit adopts cross line structured light as a reference beam to provide a space pose measurement reference.
The space reference transmitting unit is fixedly connected to the upper surface of the space pose measuring unit, the space reference transmitting unit and the space pose measuring unit form a reference beam transmitting unit 7-1, the space pose measuring unit can measure horizontal displacement, vertical displacement, yaw angle displacement, pitch angle displacement and roll angle 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 transmitting unit.
The laser receiving screen A and the laser receiving screen B are made of transparent acrylic plates, and the outer sides of the laser receiving screen A and the laser receiving screen B are coated with nanometer diffuse reflection coatings, so that the clear imaging of cross light spots on a screen is ensured, and the cross light spots can be clearly collected by an image sensor through the screen.
The installation base of the space reference emission unit is provided with a mechanical shell 1-8; the mounting base of the space pose measuring unit is provided with a mechanical shell 2-13 for protecting internal key equipment such as dust prevention, moisture prevention, impact prevention and the like.
The large-scale structural space deformation measurement method for nonlinear obstacle-crossing transmission of the reference beam is characterized by comprising the following steps of: the method comprises the following steps:
1) Measurement installation preparation: connecting a space reference emission unit with an industrial personal computer 3-3, fastening and installing the space reference emission unit on a tripod, placing the tripod 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 transmitting unit, the relation between a space pose measuring coordinate system and a space reference transmitting coordinate system in the reference beam transmitting unit is calibrated in advance, and the reference beam transmitting unit is arranged at a position near an obstacle; placing the 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 measuring units in the device to ensure that the reticle light spots of the reticle laser generator can form cross images on the laser receiving screen A and the laser receiving screen B through the light transmission window;
2) And (3) establishing a space reference emission coordinate system: in the space reference emission unit, a cross line laser center projection direction is taken as a space reference emission coordinate system X axis 4-2, an intersection point of a laser range finder ranging reference plane and the space reference emission coordinate system X axis is taken as a space reference emission coordinate system original point O4-1, an axis which passes through the original point in a plane where a cross line transverse axis is positioned and is perpendicular to the space reference emission coordinate system X axis is taken as a space reference emission coordinate system Y axis 4-3, an axis which passes through the space reference emission coordinate system original point O and is perpendicular to an XOY plane is taken as a space reference emission coordinate system Z axis 4-4, and a space reference emission coordinate system 8-1 conforming to a right hand rule is established;
3) The space pose measuring unit establishes a self coordinate system: in the space pose measuring unit, one edge along the incidence direction of laser is taken as a space pose measuring unit self coordinate system X axis 5-1, the intersection point of the adjacent edge close to the window and the edge is taken as a space pose measuring unit self coordinate system origin 5-3, the direction passing through the space pose measuring unit self coordinate system origin and vertical to the installation reference surface is taken as a space pose measuring unit self coordinate system Z axis 5-4, and the straight line passing through the space pose measuring unit self coordinate system origin and vertical to the XOY plane is taken as a space pose measuring unit self coordinate system Y axis 5-2, so that a space pose measuring unit self coordinate system 8-2 is established;
4) Laser transmission and reflection optical path: after the 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 projected to a laser receiving screen A, the other part of the incident cross line structured light passes through the laser spectroscope, and is reflected by a plane mirror and 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 a 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 group optical path, the image sensor B passes through a plane mirror group optical path to form a virtual image 6-5, namely, after passing through a measuring optical path, two groups of machine vision measuring systems form a parallel and opposite mode, and the planes of the virtual images of the receiving screen A and the receiving screen B are perpendicular 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 square in the self coordinate system of the space pose measuring unitThe process is x=x 1 Plane x=x 2 After the cross light spot images on the two screens acquired by the image sensor A, B are processed by 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 acquired, the center point of the cross light spot on the virtual image plane of the laser receiving screen A is set as A, the center 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 self coordinate system of the spatial pose measuring unit can be acquired after calibration and conversion, and the coordinate A is set as (x) 1 ，y 1 ，z 1 ) The B coordinate is (x 2 ，y 2 ，z 2 ) The cross line slope on the plane can be obtained through measurement by a machine vision system and processed by measurement software, and is set as k;
6) Horizontal and vertical displacement measurement: the center of a cross light spot of cross line 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 point coordinate of the initial time A is set as (x 1 ，y 1 ，z 1 ) After the pose change, the A point coordinate is (x) 1 ’，y 1 ’，z 1 ’)，
Horizontal displacement is Δy=y 1 '-y 1 ；
Vertical displacement is Δz=z 1 '-z 1 ；
7) Yaw angle, pitch angle, roll angle measurements: let the coordinates of the point A at the initial time before the pose change be (x) 1 ，y 1 ，z 1 ) The slope of the cross light spot transverse axis in the virtual image plane is k; let the coordinates of point B be (x) 2 ，y 2 ，z 2 ) At this time, the projection of the line segment AB in the XOY plane of the self coordinate system of the space pose measuring unit and the OX axis are at the angleProjection of line segment AB in YOZ plane of self coordinate system of space pose measuring unit and generation of OX shaft clamping angle>
Position and posture changing deviceAfter the movement, the point A coordinates are (x 1 ，y 1 ’，z 1 '), the slope of the cross spot transverse axis in the virtual image plane is k'; let the coordinates of point B be (x) 2 ，y 2 ’，z 2 ') at this time, the angle between the projection of the line segment AB in the XOY plane of the self coordinate system of the space pose measuring unit and the OX axis isProjection of line segment AB in YOZ plane of self coordinate system of space pose measuring unit and generation of OX shaft clamping angle>
Then:
yaw angular displacement Δα=α2- α1;
pitch angle displacement Δβ=β2- β1;
roll angle displacement Δθ=arctan' -arctan.
Therefore, the laser ranging function along the transmission direction of the cross reference light can be combined, and the spatial six-degree-of-freedom deformation measurement of the spatial pose measuring unit relative to the cross reference light beam can be realized.
The patent of the invention describes the transmission principle of measuring reference beams across obstacles:
connecting the space reference emission unit with an industrial personal computer, fastening and installing the space reference emission unit on a tripod, placing the tripod 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 transmitting unit, the relation between a space pose measuring coordinate system and a space reference transmitting coordinate system in the reference beam transmitting unit is calibrated in advance, and the reference beam transmitting unit is arranged at a position near an obstacle; placing the space pose measuring unit at a position near a measured point; the method comprises the steps of ensuring that cross line structured light of a space reference emission unit clearly images on a laser receiving screen A and a laser receiving screen B of a space pose measuring unit in a reference beam transmission unit; the clear imaging of the cross line structured light of the space reference transmitting unit in the reference beam transmitting unit on the receiving screen A and the receiving screen B of the space pose measuring unit at the position of the measured point is ensured.
When the reference beam transmission unit does not generate pose change, the space pose measurement reference based on the reticle structural light can directly transmit the light beam through the reference in the reference beam transmission unit, and the nonlinear cross obstacle is transmitted to the space pose measurement unit at the position of the measured point, so that the space deformation measurement of the position of the measured point relative to the reticle reference light beam is realized;
when the reference beam transmission unit generates pose change, the same pose change of the reference transmission beam in the space reference emission unit in the reference transmission unit is caused, so that a space deformation measurement error is introduced into the space pose measurement unit at the position of the measured point; the spatial pose measuring unit in the reference beam transmitting unit can measure the spatial six-degree-of-freedom pose variation of the reference beam transmitting unit relative to the measuring reference beam, and the position variation of the cross light spot of the reference transmitting beam at the measured point can be easily calculated through the known geometric knowledge because the relation between the spatial pose measuring coordinate system in the reference beam transmitting unit and the spatial reference transmitting coordinate system is fixed and known, so that the position variation can be compensated in the measured point spatial pose measuring unit, and the large-scale structural space deformation measurement of the nonlinear obstacle-crossing transmission of the reference beam is realized.
The laser range finder of the space reference emission unit transmits ranging signals among the industrial personal computer, the reference 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 transmitting unit through the first image sensor signal line 7-4, the second image sensor signal line 7-5, the third image sensor signal line 7-6 and the fourth image sensor signal line 7-7.
Although the embodiments of the present invention and the accompanying drawings have been 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 embodiments and the disclosure of the drawings.
Claims (6)
1. A large-scale structure space deformation measuring device that reference beam can be passed non-linearly strides obstacle, its characterized in that: comprises a space reference transmitting unit and a space pose measuring unit,
the space reference emission unit comprises a mounting base, a cross line laser generator, a laser range finder, a positioning reference table, a V-shaped positioning table and a light-transmitting window, wherein the laser range finder and the V-shaped positioning table are fixedly installed on the mounting base, the positioning reference table comprises two positioning end faces which are parallel to each other and perpendicular to the mounting reference face, one edge of the laser range finder is in contact installation with the one positioning end face, the cross line laser generator is in positioning installation on the V-shaped positioning table, one face of the V-shaped positioning table is in contact installation with the positioning end face, and the front end of the mounting base is provided with the light-transmitting window;
the space pose measuring unit comprises a mounting base, a laser spectroscope, a plane reflecting mirror A, a plane reflecting mirror B, a plane reflecting mirror 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 mounting base to serve as positioning end faces, the laser spectroscope and the positioning edges are arranged at 45 degrees, the plane reflecting mirror A is arranged at the rear end of the laser spectroscope and is arranged at 45 degrees with the positioning edges, the plane reflecting mirror B is arranged parallel to the plane reflecting mirror A and is arranged at 45 degrees with the positioning edges, the plane reflecting mirror C is perpendicular to the plane reflecting mirror B and is arranged at 45 degrees with the positioning edges, the laser receiving screen A and the laser receiving screen B arranged on the mounting base are used for receiving cross facula 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 large structural space deformation measuring device capable of nonlinear trans-obstruction transfer of reference beams according to claim 1, wherein the large structural space deformation measuring device is characterized in that: a cross laser generator of the space reference transmitting unit adopts cross line structured light as a reference beam to provide a space pose measurement reference.
3. The large structural space deformation measuring device capable of nonlinear trans-obstruction transfer of reference beams according to claim 1, wherein the large structural space deformation measuring device is characterized in that: the space reference transmitting unit is fixedly connected to the upper surface of the space position and posture measuring unit, the space reference transmitting unit and the space position and posture measuring unit form a reference beam transmission unit, the space position and posture measuring unit can measure horizontal displacement, vertical displacement, yaw angle displacement, pitch angle displacement and roll angle 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 transmitting unit.
4. The large structural space deformation measuring device capable of nonlinear trans-obstruction transfer of reference beams according to claim 1, wherein the large structural space deformation measuring device is characterized in that: the laser receiving screen A and the laser receiving screen B are made of transparent acrylic plates, and the outer sides of the laser receiving screen A and the laser receiving screen B are coated with nanometer diffuse reflection coatings.
5. The large structural space deformation measuring device capable of nonlinear trans-obstruction transfer of reference beams according to claim 1, wherein the large structural space deformation measuring device is characterized in that: a mechanical shell is arranged on the mounting base; the mounting base is provided with a mechanical housing.
6. A method for measuring deformation of a large structural space in which a reference beam according to any one of claims 1 to 5 is transmitted non-linearly across an obstacle, characterized in that: the method comprises the following steps:
1) Measurement installation preparation: connecting the space reference emission unit with an industrial personal computer, fastening and installing the space reference emission unit on a tripod, placing the tripod 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 transmitting unit, the relation between a space pose measuring coordinate system and a space reference transmitting coordinate system in the reference beam transmitting unit is calibrated in advance, and the reference beam transmitting unit is arranged at a position near an obstacle; placing the 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 measuring units in the device to ensure that the reticle light spots of the reticle laser generator can form cross images on the laser receiving screen A and the laser receiving screen B through the light transmission window;
2) And (3) establishing a space reference emission coordinate system: in the space reference emission unit, a space reference emission coordinate system conforming to the right hand rule is established by taking the projection direction of a cross line laser center as a coordinate system X axis, taking the intersection point of a ranging reference plane of a laser range finder and the X axis as a coordinate origin O, taking an axis passing through the origin in a plane of a cross line transverse axis and perpendicular to the X axis as a Y axis, and taking an axis passing through the coordinate origin and perpendicular to an XOY plane as a Z axis;
3) The space pose measuring unit establishes a self coordinate system: in the space pose measurement unit, one edge along the incidence direction of laser is taken as an X axis, the intersection point of the adjacent edge close to the window and the edge is taken as an original point, the direction which passes through the original point and is vertical to the upward direction of the installation reference plane is taken as a Z axis, and the straight line which passes through the original point and is vertical to the XOY plane is taken as a Y axis, so that a self coordinate system of the space pose measurement unit is established;
4) Laser transmission and reflection optical path: after the incident reticle structure light is acted by the laser spectroscope, one part of the incident reticle structure light is reflected and projected to the laser receiving screen A, the other part of the incident reticle structure light passes through the laser spectroscope and is projected to the laser receiving screen B after being reflected by the plane mirror in sequence, the receiving screen A forms a virtual image through the laser spectroscope, the image sensor A forms a virtual image through the laser spectroscope, the receiving screen B forms a virtual image through a plane mirror group light path, the image sensor B forms a virtual image through a plane mirror group light path, namely, after passing through a measuring light path, two groups of machine vision measuring systems form a parallel and opposite mode, the planes of the virtual images of the receiving screen A and the receiving screen B are perpendicular to an X axis, and the position relationship is fixed;
5) Setting laser receptionThe virtual image plane A of the screen A, the virtual image plane B of the laser receiving screen B, in the self coordinate system of the space pose measuring unit, the plane equation is set as x=x 1 Plane x=x 2 After the cross light spot images on the two screens acquired by the image sensor A, B are processed by 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 acquired, the center point of the cross light spot on the virtual image plane of the laser receiving screen A is set as A, the center 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 self coordinate system of the spatial pose measuring unit can be acquired after calibration and conversion, and the coordinate A is set as (x) 1 ，y 1 ，z 1 ) The B coordinate is (x 2 ，y 2 ，z 2 ) The cross line slope on the plane can be obtained through measurement by a machine vision system and processed by measurement software, and is set as k;
6) Horizontal and vertical displacement measurement: the center of a cross light spot of cross line 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 point coordinate of the initial time A is set as (x 1 ，y 1 ，z 1 ) After the pose change, the A point coordinate is (x) 1 ’，y 1 ’，z 1 ’)，
Horizontal displacement is Δy=y 1 '-y 1 ；
Vertical displacement is Δz=z 1 '-z 1 ；
7) Yaw angle, pitch angle, roll angle measurements: let the coordinates of the point A at the initial time before the pose change be (x) 1 ，y 1 ，z 1 ) The slope of the cross light spot transverse axis in the virtual image plane (7-3) is k; let the coordinates of point B be (x) 2 ，y 2 ，z 2 ) At this time, the projection of the line segment AB in the XOY plane of the self coordinate system of the space pose measuring unit and the OX axis are at the angleProjection of line segment AB in YOZ plane of self coordinate system of space pose measuring unit and generation of OX shaft clamping angle>
After the pose change, the A point coordinate is (x 1 ，y 1 ’，z 1 '), the slope of the cross spot transverse axis in the virtual image plane is k'; let the coordinates of point B be (x) 2 ，y 2 ’，z 2 ') at this time, the angle between the projection of the line segment AB in the XOY plane of the self coordinate system of the space pose measuring unit and the OX axis isProjection of line segment AB in YOZ plane of self coordinate system of space pose measuring unit and generation of OX shaft clamping angle>
Then:
yaw angular displacement Δα=α2- α1;
pitch angle displacement Δβ=β2- β1;
roll angle displacement Δθ=arctan' -arctan;
therefore, the laser ranging function along the transmission direction of the cross reference light can be combined, and the spatial six-degree-of-freedom deformation measurement of the spatial pose measuring unit relative to the cross reference light beam can be realized.
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