CN101158593A - Leveling compensating mechanism in photoelectric measurement instrument - Google Patents

Leveling compensating mechanism in photoelectric measurement instrument Download PDF

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CN101158593A
CN101158593A CN 200710056294 CN200710056294A CN101158593A CN 101158593 A CN101158593 A CN 101158593A CN 200710056294 CN200710056294 CN 200710056294 CN 200710056294 A CN200710056294 A CN 200710056294A CN 101158593 A CN101158593 A CN 101158593A
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measuring
instrument
optoelectronic
leveling
inclinometer
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CN 200710056294
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CN100464162C (en )
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李建荣
杜璧秀
王志乾
雁 赵
高峰端
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中国科学院长春光学精密机械与物理研究所
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Abstract

The invention relates to a leveling-compensating device of an optoelectronic measuring instrument, the device comprises a microprocessor and a level inclinometer; the level inclinometer is arranged on a datum plane of the optoelectronic measuring instrument, a serial port is connected with a serial port of the microprocessor, the distance between a measured object and the optical system principle point is calculated out by the microprocessor according to the inclination angle value output by the level inclinometer, and the measured object height and measured object imaging height. When the datum plane of the optoelectronic measuring instrument inclines within a certain inclination range, the invention compensates the measuring result in real time according to the inclination angle value, thus acquiring accurate measuring value with declining position, and the optoelectronic measuring instrument can be operated without precisely leveling and the leveling procedure is very short, during the measuring process, no operation is needed to keep the datum plane of the optoelectronic measuring instrument at the initial leveling status, the measuring efficiency is improved.

Description

一种光电测量仪器中的调平补偿装置 Leveling compensating means A photoelectric measuring instrument

技术领域: FIELD:

本发明涉及一种光电测量仪器,特别涉及一种光电测量仪器中的调平补偿装置。 The present invention relates to an optoelectronic measuring device, in particular, it relates to an apparatus for compensating the photoelectric leveling measuring instrument.

背景技术: Background technique:

大多数仪器或者测量设备每次进行测量前为了提高仪器或者设备的测量精度,都要找一个精确的测量基准。 Most of the instrument before each measurement or a measurement device to improve the measurement accuracy of the instrument or apparatus, are looking for a precise measurement reference. 比如水准仪、经纬仪等,都要求在某一基准水平状态下工作。 Such as water level, theodolite, etc., are required to operate at a certain base level status. 而相对于地球的惯性系统来说,由于地球万有引力的作用,最常用而又最简单的测量基准就是利用大地的水平基准,即需要把仪器或设备基准面调到与大地水平面相平行(简称调平)。 Inertial system with respect to earth is, due to the action of earth gravity, the most common and most simple measurement reference level is the use of a reference earth, the need to be transferred to the instrument or device plane surface parallel to the ground level (referred to tune level). 在大多数工程测量应用中,都是通过手动利用电子水平仪来对设备或仪器进行调平。 In most engineering measurement applications, are manually carried out using the electronic horizon leveling of the device or instrument. 通常的做法是,调平时,用手调节调平基座上的旋钮,用眼观察安放在调平基座上的气泡,调节使气泡位于中心位置;或者是观察安放在调平基座上的电子水准仪的数字显示,调节基座旋钮使电子水平仪在任何位置放置时的读数都相同。 The usual practice is, leveling control, manually adjusting the leveling knobs on the base, with Grossly Cha An adjustment bubbles on a flat base, adjusting the position of the bubble in the center; or leveling placed on the observation of the base digital electronic level display, adjust the pedestal level of the electronic dial reading at any placing position of the same.

随着技术的进步,用电子气泡检测水平度并通过电机反馈控制的自动调平系统逐渐得到应用。 As technology advances, electronic automatic leveling system detects the level of the bubble and by a motor feedback control is gradually applied. 用微处理器或处理器的脉宽调制(PWM)功能通过闭环控制可以实现自动调平,但由于微处理器单任务的特点,同一时刻只能监测一个方向的电子气泡和控制一个电机,而实际上往往需要在X, y两个方向上同时进行调节,因此这样的调平过程一般需要较长时间, 并且还要使用各种方法来保持这种水平状态。 (PWM) function can be achieved automatically leveling pulse width modulation by a microprocessor or closed-loop control processor, a microprocessor, but due to the characteristics of a single task, the same time only one direction electronic monitoring and control of a motor bubble, and in fact, often they need to be adjusted simultaneously in the two directions X, y, and therefore such a leveling process typically takes a long time, and also using various methods to maintain this level state. 在调平过程中还有一定的人为因素,从而使不同人对同一事物的测量结果也可能不完全相同。 In the leveling process, there are some human factors, so that different people may not appear exactly the same thing on the measurement results.

发明内容: SUMMARY:

本发明要解决的技术问题是提供一种仪器或设备基准面在一定的倾角范围内倾斜时, 能够根据倾斜的角度值对测量结果进行实时补偿,从而得到准确测量值的光电测量仪器中的调平补偿装置。 The present invention is to solve the technical problem is to provide an instrument or device plane inclination angle in a certain range, it is possible to compensate the measurement results in real time according to the value of the angle of inclination, to obtain an accurate measurement of optoelectronic measuring instruments in tune level compensation means.

本发明的光电测量仪器中的调平补偿装置包括微处理器,水平倾角仪;水平倾角仪安装在光电测量仪器的基准面上,其串口接微处理器的串口,微处理器根据水平倾角仪输出的倾斜角度值、被测目标的高度及被测目标成像高度计算被测目标与光学系统主点之间的距离。 Leveling compensating means optoelectronic measuring apparatus of the present invention includes a microprocessor, a horizontal angle meter; inclinometer mounted on the horizontal reference surface of the optoelectronic measuring instruments, which the serial port connected to the microprocessor, the microprocessor in accordance with the level of the inclinometer the inclination angle of the output value, the height of the measured object and the measured object height calculating the distance between the imaging target and the measured principal point of the optical system.

所述的微处理器包括: Said microprocessor comprising:

初始化模块;读取水平倾角仪输出数据的模块; 计算被测目标成像高度的模块;根据水平倾角仪输出的倾斜角度值、被测目标的高度和被测目标成像高度计算被测目标与光学系统主点之间距离的模块。 Initialization module; horizontal inclinometer reading output data block; calculation module height measured target image; an inclination angle of the horizontal inclinometer output value, and the height of the measured object measured target height calculation imaging optical system and the test target the distance between the principal point of the module. 在实际测量时,首先将光电测量仪器调平,然后调节水平倾角仪到绝对零点。 In actual measurement, the first optoelectronic measuring instruments leveling, and then to adjust the level of absolute zero inclinometer. 当光电测量仪器基准面在一定的倾角范围内倾斜时,水平倾角仪测量倾斜的角度值,并将该角度值传输给微处理器,微处理器就可以根据水平倾角仪输出的倾斜角度值、被测目标的高度及被测目标成像高度计算出被测目标与光学系统主点之间的距离。 When the photoelectric measuring instrument plane tilt angle within a certain range, a horizontal angle value measured inclination angle, and the angle value transmitted to the microprocessor, the microprocessor in accordance with the value of the tilt angle can inclinometer output level, measured target height and the measured height of the target image to calculate the distance between the measured object and the principal point of the optical system. 本发明可以根据水平倾角仪输出的倾斜角度值对测量结果进行实时补偿,从而在倾斜的情况下得到准确的测量值,因而光电测量仪器不需要精确调平,调平过程时间短,并且在测量过程中不需要采取任何措施使光电测量仪器基准面保持在初始水平状态,测量效率咼°下面根据附图和具体实施方式对本发明作进一步详细说明。 The present invention may be based on the level value of the tilt angle of the inclinometer output in real-time compensation of the measurement result, to obtain accurate measurements in case of inclined, so optoelectronic measuring instruments do not require accurate leveling, leveling short process times, and measuring no action is required in the process of the photoelectric measuring instrument remains in the initial plane horizontal state, the measurement efficiency 咼 ° below with reference to drawings and specific embodiments described in further detail of the present invention. 附图说明图l为本发明结构示意图。 L BRIEF DESCRIPTION structural diagram of the present invention. 图中l为光电测量仪器,2水平倾角仪,3微处理器。 Figure l is a photoelectric measuring instrument, the level of inclinometers 2, 3 microprocessor. 图2为微处理器内部主程序流程图。 FIG 2 is a flowchart of the main program inside the microprocessor. 图3激光目标靶与光电测量仪器相对位置示意图。 FIG third laser target of interest and the relative position optoelectronic measuring instruments FIG. 图中4为激光目标靶,l为光电测量仪器。 FIG 4 is a laser target of interest, l for the optoelectronic measuring instruments. 图4激光目标靶与大地垂直情况下的测量原理图。 FIG 4 Schematic measured at the laser target of interest and the case perpendicular to the ground. 图5激光目标靶平行于XOZ面,与YOZ平面夹角为a时的测量原理图。 FIG 5 is parallel to the target laser target plane XOZ, YOZ and plane angle is a schematic diagram when measurement. 图6激光目标靶平行于YOZ面,与XOZ平面夹角为e时的测量原理图。 FIG 6 the laser target of interest YOZ plane parallel to the measurement principle view angle to the plane XOZ as e. 具体实施方式如图1所示,本发明的光电测量仪器中的调平补偿装置包括:微处理器3,水平倾角仪2;水平倾角仪2采用高精度双周水平倾角仪,安装在光电测量仪器l的基座上,其串口通过RS232接口与微处理器3的串口连接,微处理器3根据水平倾角仪2输出的倾斜角度值、 被测目标的高度及被测目标成像高度计算被测目标与光学系统主点之间的距离。 DETAILED DESCRIPTION As shown in FIG. 1, a leveling compensating means optoelectronic measuring apparatus of the present invention comprises: a microprocessor 3, a horizontal angle meter 2; 2 high-precision horizontal inclinometers biweekly level inclinometer, mounted on the optoelectronic measurement l instrument base, which interfaces with the microprocessor through the serial port RS232 serial port 3, the microprocessor 3 according to the inclination angle value output from the horizontal angle meter, and the measured object height measured height for imaging an object under test the distance between the target and the principal point of the optical system. 如图2所示,所述的微处理器3的内部程序包括下列步骤-初始化; As shown, the internal procedures of the microprocessor 3 comprises the following steps 2 - initialization;

读取水平倾角仪输出的数据; 计算被测目标的成像高度;根据水平倾角仪输出的倾斜角度值、被测目标的高度和被测目标成像高度计算被测目标与光学系统主点之间的距离; 观!l更结束;返回。 Read data output from the horizontal inclinometer; calculated image height measured object; inclinometer an inclination angle of the level of the output value, and the height of the measured object measured target height calculation between the imaging optical system and the test target principal point distance;! l view more end; return. 编制微处理器内部主程序所依据的调平补偿数学模型根据光学成像理论建立。 Leveling compensation preparation mathematical model is based on a microprocessor inside the main program to establish optical imaging theory. 根据光学成像理论建立调平补偿数学模型过程如下:如图3所示,在光电测量仪器1的光学系统前放置激光目标靶4,首先将该激光目标靶4调到与大地垂直,将光学系统的光轴调到与大地水平,线阵CCD调到与大地垂直,然后在激光目标靶4上安装一个水平倾角仪,把水平倾角仪调到零点。 Establishing a mathematical model leveling compensating optical imaging theory as follows: 4, the first target of interest laser 4 adjusted vertically and the earth, the optical system shown in FIG placed in front of the laser target of interest optoelectronic measuring instrument optical system 1 3 ground level and transferred to the optical axis, and the earth line CCD adjusted vertically, and a horizontal inclinometer mounted on the laser target of interest 4, the zero level adjusted inclinometer. 此时,光电测量仪器1测量的是光学镜头的主点O到两激光目标点的连线之间的直线距离L。 At this time, the photoelectric measuring instrument 1 measures the linear distance between the optical lens principal point O to the point connecting two laser target L. 以光学系统的主点为坐标原点,光轴为Y轴建立图3的测量原理图如图4所示, 两激光目标点之间的距离D可精确标定到0.01mm,光学镜头的焦距f可精确标定到0.01 mm,两激光目标点在CCD上的成像距离d可精确标定到0.001 mm。 Principal point of the optical system is a coordinate origin, the optical axis of the measurement principle to establish FIG. 3 FIG. 4 FIG Y-axis, the distance D between the two target points may be accurately calibrated laser light to 0.01mm, the focal length f of the optical lens can be accurately calibrated to 0.01 mm, two laser target spot on the CCD imaging distance d can be precisely calibrated to 0.001 mm. 通电使电机带动镜头水平转动可测得两激光目标点在CCD上的成像距离d,根据光学成像理论可计算出光学镜头主点到两激光器目标点连线的直线距离L:""x/" (1)由于系统各个部分都存在误差,根据实际测量结果证明L的测量精度可保证在1 mm以内。 光学检测系统和激光目标靶都有两种基本倾斜情况,所有的倾斜都可以由这两种基本倾斜来分解。因为它们在同一坐标系的位置是相对的,所以可以假定光轴始终平行于大地, 把所有倾斜都折算在激光目标靶4上。第一种基本倾斜情况是直线AB平行于XOZ面,直线AB与YOZ平面夹角为a如图5所示。这时在CCD上成像的有效高度是A^,由图.5 知:j = x cosa ( 2 )式中:i/7为投影物高^5; i/为物高X5。第二种基本倾斜情况是直线AB平行与YOZ面,直线AB与XOZ平面夹角为P ,如图6所示。这时在CCD上成像的有效高度是A2B,由图6知:根据光轴 Energizing the motor to drive the lens can be measured two horizontal rotary laser imaged object point distance d on the CCD, the optical imaging optics theory to calculate the principal point of two laser points connected to the linear distance L: "" x / " (1) Since various parts of the system there are errors, the measurement results show that L actual measurement accuracy can be guaranteed within 1 mm., and a laser optical detection system has two basic objectives inclination of the target, we are all inclined by the two basic tilt decomposition position because they are relatively the same coordinate system, it may be assumed that the optical axis is always parallel to the ground, the inclination of all the conversion target 4 on the laser target. the first case is substantially inclined parallel straight lines AB in XOZ surfaces, the angle between the plane YOZ line AB is the effective height of a case 5 on the CCD imaging is a ^, FIG .5 known:. j = x cosa (2) where: i / 7 is a projected high ^ 5; i / was as high X5 second situation is inclined substantially parallel to the straight line AB YOZ plane, the angle between the plane XOZ line AB is P, as shown in FIG time in the CCD. imaging is the effective height A2B, known from Figure 6: axis CCD上的像点02、激光器A在CCD上的像点a及焦距/可得y = fl/"ctow(77W (3)= x co5〃 — 7/ x + towy (4) 式中:/T为投影物高^万,//为物高^8,/z为像高a02。在激光目标耙4上装一个双周水平倾角仪,在激光目标耙4与大地垂直时,把水平倾角仪调到零点。则当目标靶倾斜时,从水平倾角仪可以直接读出"和/?,则由公式(1), (2),(3), (4)可得调平补偿数学模型:丄=77 x cos" x {coy/? —(5)其中z为光学系统主点到激光目标靶两目标点连线的直线距离(即在倾斜情况下的物距), i/为两目标点之间的距离,"、》为激光目标靶的倾斜角度,/为光学系统的焦距。 Image point on the CCD 02, and a laser A focal point in the image on the CCD / available y = fl / "ctow (77W (3) = x co5〃 - 7 / x + towy (4) where: / T high projected ^ million and was as high // ^ 8, / z for the image height a02. rake 4 tops in a laser target level inclinometer biweekly, when the laser target and the earth vertical rake 4, the horizontal transfer inclinometers . 0:00 to target if the target is inclined, can be read directly from the level of the inclinometer "and / ?, by formula (1), (2), (3), (4) available leveling compensation mathematical model: Shang = 77 x cos "x {coy / -? (5) where z is the linear distance to the laser optical system, the principal point of two points connected target of interest (i.e., the case was tilted away), i / two target points the distance between, "" the tilt angle of the laser target of interest, / is the focal length of the optical system.

Claims (2)

  1. 1、一种光电测量仪器中的调平补偿装置,包括微处理器,其特征在于还包括水平倾角仪;水平倾角仪安装在光电测量仪器的基准面上,其串口接微处理器的串口,微处理器根据水平倾角仪输出的倾斜角度值、被测目标的高度及被测目标成像高度计算被测目标与光学系统主点之间的距离。 An optoelectronic measuring instrument leveling compensating means comprising a microprocessor, characterized by further comprising a horizontal inclinometer; inclinometer mounted on the horizontal reference surface of the optoelectronic measuring instruments, which the serial port connected to the microprocessor, the microprocessor inclinometer an inclination angle of the level of the output value, the height of the measured object and the measured object height calculating the distance between the imaging target and the measured principal point of the optical system.
  2. 2、 根据权利要求l所述的光电测量仪器中的调平补偿装置,其特征在于所述的微处理器包括:初始化模块;读取水平倾角仪输出数据的模块; 计算被测目标成像高度的模块;根据水平倾角仪输出的倾斜角度值、被测目标的高度和被测目标成像高度计算被测目标与光学系统主点之间距离的模块。 2. The leveling optoelectronic measuring instrument l compensating apparatus as claimed in claim, wherein said microprocessor comprises: an initialization module; horizontal inclinometer reading output data block; calculating the measured target image height module; inclinometer an inclination angle of the level of the output value, the distance between the test module and the objective optical system, the principal point of the measured object and the measured object height image height calculation.
CN 200710056294 2007-11-12 2007-11-12 Leveling compensating mechanism in photoelectric measurement instrument CN100464162C (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104457786A (en) * 2014-10-16 2015-03-25 哈尔滨工程大学 Outer field strapdown inertial unit rapid calibration method adopting multi-sensor fusion technology
CN105157729A (en) * 2015-09-17 2015-12-16 天津大学 Levelling and calibrating method used for indoor space surveying and positioning system
CN105352983A (en) * 2015-12-14 2016-02-24 重庆大学 Spatial position regulation method

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3833778A1 (en) 1987-12-29 1989-07-13 Jenoptik Jena Gmbh Arrangement for level measurement, especially for geometric levelling
DE3916385C2 (en) 1988-07-11 1995-06-08 Zeiss Carl Jena Gmbh Method and arrangement for geometric altitude measurement
CN1025972C (en) 1992-04-03 1994-09-21 国家地震局地震研究所 Comprehensive check meter for precision level-metre
JP3460074B2 (en) 1995-11-24 2003-10-27 株式会社トプコン Electronic level of the horizontal position error correction mechanism

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104457786A (en) * 2014-10-16 2015-03-25 哈尔滨工程大学 Outer field strapdown inertial unit rapid calibration method adopting multi-sensor fusion technology
CN104457786B (en) * 2014-10-16 2017-04-12 哈尔滨工程大学 A multi-sensor fusion technology field assembly Inertial quick calibration method
CN105157729A (en) * 2015-09-17 2015-12-16 天津大学 Levelling and calibrating method used for indoor space surveying and positioning system
CN105352983A (en) * 2015-12-14 2016-02-24 重庆大学 Spatial position regulation method

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