CN101158593A - Leveling compensating mechanism in photoelectric measurement instrument - Google Patents
Leveling compensating mechanism in photoelectric measurement instrument Download PDFInfo
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- CN101158593A CN101158593A CNA200710056294XA CN200710056294A CN101158593A CN 101158593 A CN101158593 A CN 101158593A CN A200710056294X A CNA200710056294X A CN A200710056294XA CN 200710056294 A CN200710056294 A CN 200710056294A CN 101158593 A CN101158593 A CN 101158593A
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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
Technical field:
The present invention relates to a kind of photoelectric measurement instrument, the leveling compensating mechanism in particularly a kind of photoelectric measurement instrument.
Background technology:
Before measuring at every turn, most of instruments or measuring equipment, all to look for an accurate measuring basis in order to improve the measuring accuracy of instrument or equipment.Such as spirit-leveling instrument, transit etc., all require under a certain datum-plane state, to work.And with respect to the inertia system of the earth, because the gravitational effect of the earth, the most frequently used and the simplest measuring basis is exactly the horizontal reference that utilizes the earth, promptly needs instrument or equipment reference field be transferred to parallel (abbreviation leveling) with the earth surface level.In most of engineering surveys are used, all be by manually utilizing electrolevel to come equipment or instrument are carried out leveling.Common way is that during leveling, with the knob on the hand adjustment joint leveling pedestal, usefulness is observed and examined the bubble that is placed on the leveling pedestal, regulates making bubble be positioned at the center; Or observe the numeral demonstration that is placed in the electronic level on the leveling pedestal, regulate the pedestal knob and make the reading of electrolevel when the placement of any position all identical.
Along with development of technology, be applied gradually with electronics bubble detection level degree and the automatic horizontal control system by the motor FEEDBACK CONTROL.Width modulation (PWM) function with microprocessor or processor can realize automatic leveling by closed-loop control, but because the characteristics of microprocessor single task, synchronization can only be monitored electronics bubble and motor of control of a direction, and in fact often need be at x, regulate simultaneously on the y both direction, therefore such leveling process generally needs the long period, and will make in all sorts of ways and keep this horizontality.In the leveling process, also have certain human factor, thereby make different people also possible incomplete same the measurement result of same things.
Summary of the invention:
When the technical problem to be solved in the present invention provides a kind of instrument or equipment reference field and tilts in certain inclination angle scope, can carry out real-Time Compensation to measurement result according to the angle value that tilts, thereby obtain the leveling compensating mechanism in the photoelectric measurement instrument of accurate measured value.
Leveling compensating mechanism in the photoelectric measurement instrument of the present invention comprises microprocessor, the level inclination instrument; The level inclination instrument is installed on the reference field of photoelectric measurement instrument, its serial ports connects the serial ports of microprocessor, and microprocessor is according to the angle of inclination value of level inclination instrument output, the height of measured target and the distance between measured target imaging high computational measured target and the optical system principal point.
Described microprocessor comprises:
Initialization module;
The module of read level inclinator output data;
Calculate the module of measured target imaging height;
Module according to distance between the height of the angle of inclination value of level inclination instrument output, measured target and measured target imaging high computational measured target and the optical system principal point.
When actual measurement,, regulate the level inclination instrument then to actual zero point at first with the photoelectric measurement instrument leveling.When the photoelectric measurement instrument reference field tilts in certain inclination angle scope, the level inclination instrument is measured the angle value of inclination, and this angle value is transferred to microprocessor, microprocessor just can be calculated distance between measured target and the optical system principal point according to the height of the angle of inclination value of level inclination instrument output, measured target and measured target imaging altitude gauge.
The present invention can carry out real-Time Compensation to measurement result according to the angle of inclination value of level inclination instrument output, thereby under situation about tilting, obtain measured value accurately, thereby photoelectric measurement instrument does not need accurate leveling, the leveling process time is short, and in measuring process, do not need to take any measure to make the photoelectric measurement instrument reference field remain on the initial level state, the efficiency of measurement height.
With embodiment the present invention is described in further detail with reference to the accompanying drawings below.
Description of drawings
Fig. 1 is a structural representation of the present invention.1 is photoelectric measurement instrument among the figure, 2 level inclination instrument, 3 microprocessors.
Fig. 2 is the microprocessor internal main program flow chart.
Fig. 3 laser eyepiece target and photoelectric measurement instrument relative position synoptic diagram.4 is the laser eyepiece target among the figure, and 1 is photoelectric measurement instrument.
Measuring principle figure under the vertical situation of Fig. 4 laser eyepiece target with the earth.
Fig. 5 laser eyepiece target is parallel to the XOZ face, the measuring principle figure when being α with the YOZ plane included angle.
Fig. 6 laser eyepiece target is parallel to the YOZ face, the measuring principle figure when being β with the XOZ plane included angle.
Embodiment
As shown in Figure 1, the leveling compensating mechanism in the photoelectric measurement instrument of the present invention comprises: microprocessor 3, level inclination instrument 2; Level inclination instrument 2 adopts the two all level inclination instrument of high precision, be installed on the pedestal of photoelectric measurement instrument 1, its serial ports is connected with the serial ports of microprocessor 3 by the RS232 interface, and microprocessor 3 is according to angle of inclination value, the height of measured target and the distance between measured target imaging high computational measured target and the optical system principal point of 2 outputs of level inclination instrument.
As shown in Figure 2, the internal processes of described microprocessor 3 comprises the following steps:
Initialization;
The data of read level inclinator output;
Calculate the imaging height of measured target;
According to the angle of inclination value of level inclination instrument output, the height of measured target and the distance between measured target imaging high computational measured target and the optical system principal point;
Measure and finish;
Return.
The leveling compensation mathematical model of establishment microprocessor internal master routine institute foundation is set up according to optical imagery is theoretical.
It is as follows to set up leveling compensation mathematical model process according to the optical imagery theory:
As shown in Figure 3, before the optical system of photoelectric measurement instrument 1, place laser eyepiece target 4, at first be transferred to this laser eyepiece target 4 vertical with the earth, the optical axis of optical system is transferred to and the earth level, line array CCD is transferred to vertical with the earth, a level inclination instrument is installed then, level inclination instrument zero setting on laser eyepiece target 4.
At this moment, photoelectric measurement instrument 1 is measured is that the principal point O of optical lens is to the air line distance L between the line of 2 laser eyepiece points.Principal point with optical system is a true origin, optical axis be Y-axis set up Fig. 3 measuring principle figure as shown in Figure 4, distance D between the 2 laser eyepiece points can accurately be demarcated 0.01mm, the focal distance f of optical lens can accurately be demarcated 0.01mm, and the image-forming range d of 2 laser eyepiece points on CCD can accurately demarcate 0.001mm.Energising horizontally rotates the driven by motor camera lens and can record the image-forming range d of two laser eyepieces point on CCD, can calculate the air line distance L of optical lens principal point to two-laser impact point line according to the optical imagery theory:
L＝D×f/d (1)
Because all there is error in system's various piece, prove that according to actual measured results the measuring accuracy of L can guarantee in 1mm.
Optical detection system and laser eyepiece target all have two kinds of basic inclination situations, and all inclinations can be decomposed by these two kinds basic inclinations.Because they are relative in the position of the same coordinate system, be parallel to the earth all the time so can suppose optical axis, all inclinations are all converted on laser eyepiece target 4.First kind of basic inclination situation is that straight line AB is parallel to the XOZ face, straight line AB and YOZ plane included angle be α as shown in Figure 5.At this moment the significant height of imaging is A on CCD
1B, known by Fig. 5:
H
1＝H×cosa (2)
In the formula: H
1Be projection object height A
1B; H is object height AB.
Second kind of basic inclination situation is the parallel and YOZ face of straight line AB, and straight line AB and XOZ plane included angle are β, as shown in Figure 6.
At this moment the significant height of imaging is A on CCD
2B is known by Fig. 6: according to the picture point O of optical axis on CCD
2, picture point a and the focal distance f of laser instrument A on CCD can get
γ＝arctan(f/h) (3)
H′＝H×cosβ-H×sinβ÷tanγ (4)
In the formula: H ' is projection object height A
2B, H are object height AB, and h is image height aO
2
On laser eyepiece target 4, adorn two all level inclination instrument, when laser eyepiece target 4 is vertical with the earth, level inclination instrument zero setting.Then when target tilts, can directly read α and β from the level inclination instrument, then by formula (1), (2), (3), (4) can get leveling compensation mathematical model:
L＝H×cosα×{cosβ-sinβ (5)
÷tan[arctan(f/h)]+sin(β/2)}
Wherein L is the air line distance (i.e. object distance under inclination situation) of optical system principal point to laser eyepiece target two impact point lines, and H is the distance between two impact points, and α, β are the angle of inclination of laser eyepiece target, and f is the focal length of optical system.
Claims (2)
1. the leveling compensating mechanism in the photoelectric measurement instrument comprises microprocessor, it is characterized in that also comprising the level inclination instrument; The level inclination instrument is installed on the reference field of photoelectric measurement instrument, its serial ports connects the serial ports of microprocessor, and microprocessor is according to the angle of inclination value of level inclination instrument output, the height of measured target and the distance between measured target imaging high computational measured target and the optical system principal point.
2. the leveling compensating mechanism in the photoelectric measurement instrument according to claim 1 is characterized in that described microprocessor comprises:
Initialization module;
The module of read level inclinator output data;
Calculate the module of measured target imaging height;
Module according to distance between the height of the angle of inclination value of level inclination instrument output, measured target and measured target imaging high computational measured target and the optical system principal point.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB200710056294XA CN100464162C (en) | 2007-11-12 | 2007-11-12 | Leveling compensating mechanism in photoelectric measurement instrument |
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|---|---|---|---|
| CNB200710056294XA CN100464162C (en) | 2007-11-12 | 2007-11-12 | Leveling compensating mechanism in photoelectric measurement instrument |
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| CN101158593A true CN101158593A (en) | 2008-04-09 |
| CN100464162C CN100464162C (en) | 2009-02-25 |
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Cited By (10)
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| CN104457784A (en) * | 2013-09-16 | 2015-03-25 | 刘危 | Simulator capable of simulating function and fault of TC-9A vertical gyro |
| 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 |
| CN107102315A (en) * | 2017-04-24 | 2017-08-29 | 重庆钢铁(集团)有限责任公司 | A kind of laser range finder calibration method |
| CN107728022A (en) * | 2017-10-19 | 2018-02-23 | 上海电力学院 | Ultraviolet partial discharge number of photons detection means and method based on laser radar range compensation |
| CN107783147A (en) * | 2017-10-16 | 2018-03-09 | 北京天格高通科技有限公司 | A kind of catenary design and laser radar leveling method based on laser radar |
| CN110793550A (en) * | 2019-11-24 | 2020-02-14 | 北京长峰科威光电技术有限公司 | Positioning measurement method based on two-dimensional double-shaft tilt sensor |
| CN111896965A (en) * | 2020-06-09 | 2020-11-06 | 深圳职业技术学院 | Laser ranging calibration method and laser range finder capable of automatically calibrating |
| CN112372602A (en) * | 2020-11-13 | 2021-02-19 | 长安大学 | Quick and accurate leveling method for three-point support precision measurement rotary table |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DD269663A1 (en) * | 1987-12-29 | 1989-07-05 | Zeiss Jena Veb Carl | ARRANGEMENT FOR HEIGHT MEASUREMENT, ESPECIALLY FOR GEOMETRIC NIVELLEMENT |
| DD273886A1 (en) * | 1988-07-11 | 1989-11-29 | Zeiss Jena Veb Carl | METHOD AND ARRANGEMENT FOR GEOMETRIC HEIGHT MEASUREMENT |
| CN1025972C (en) * | 1992-04-03 | 1994-09-21 | 国家地震局地震研究所 | Comprehensive checker for precise levelling instrument |
| JP3460074B2 (en) * | 1995-11-24 | 2003-10-27 | 株式会社トプコン | Electronic level horizontal error correction mechanism |
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2007
- 2007-11-12 CN CNB200710056294XA patent/CN100464162C/en not_active Expired - Fee Related
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| CN104457784A (en) * | 2013-09-16 | 2015-03-25 | 刘危 | Simulator capable of simulating function and fault of TC-9A vertical gyro |
| 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 | 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 |
| CN107102315A (en) * | 2017-04-24 | 2017-08-29 | 重庆钢铁(集团)有限责任公司 | A kind of laser range finder calibration method |
| CN107783147B (en) * | 2017-10-16 | 2019-12-13 | 北京天格高通科技有限公司 | Contact net detection vehicle based on laser radar and laser radar leveling method |
| CN107783147A (en) * | 2017-10-16 | 2018-03-09 | 北京天格高通科技有限公司 | A kind of catenary design and laser radar leveling method based on laser radar |
| CN107728022A (en) * | 2017-10-19 | 2018-02-23 | 上海电力学院 | Ultraviolet partial discharge number of photons detection means and method based on laser radar range compensation |
| CN107728022B (en) * | 2017-10-19 | 2024-03-26 | 上海电力学院 | Ultraviolet partial discharge photon number detection device and method based on laser radar ranging compensation |
| CN110793550A (en) * | 2019-11-24 | 2020-02-14 | 北京长峰科威光电技术有限公司 | Positioning measurement method based on two-dimensional double-shaft tilt sensor |
| CN111896965A (en) * | 2020-06-09 | 2020-11-06 | 深圳职业技术学院 | Laser ranging calibration method and laser range finder capable of automatically calibrating |
| CN112372602A (en) * | 2020-11-13 | 2021-02-19 | 长安大学 | Quick and accurate leveling method for three-point support precision measurement rotary table |
| CN112372602B (en) * | 2020-11-13 | 2021-11-30 | 长安大学 | Quick and accurate leveling method for three-point support precision measurement rotary table |
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