CN101666642A - Digital level capable of automatically measuring - Google Patents
Digital level capable of automatically measuring Download PDFInfo
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- CN101666642A CN101666642A CN200910307807A CN200910307807A CN101666642A CN 101666642 A CN101666642 A CN 101666642A CN 200910307807 A CN200910307807 A CN 200910307807A CN 200910307807 A CN200910307807 A CN 200910307807A CN 101666642 A CN101666642 A CN 101666642A
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Abstract
The invention relates to a digital level capable of automatically tracking a level rod and automatically completing measurement, comprising a wide-angle camera processing system, a telescope focusingsystem, a CCD device and a CPU unit, wherein the wide-angle camera processing system is used for finding a scale in all around under the driving of a horizontal rotating base, and then calculating theorientation and distance of the scale; the telescope focusing system is used for adjusting the direction thereof to automatically focus after aligning the scale according to the orientation and distance of the scale; the CCD device is used for acquiring precise images of the scale by the telescope focusing system after focusing; and the CPU unit is used for controlling the horizontal rotating base to rotate by a corresponding angle according to the orientation and distance of the scale so as to lead the telescope focusing system to align the scale, then driving the telescopic focusing systemto corresponding focal distance, acquiring the image forming the scale in the CCD device, finally calculating the height and distance of the scale and storing the height and distance in a memory.
Description
Technical field
The present invention relates to a kind of digital level of automatic measurement, be specifically related to a kind of digital level that can also finish measurement from the motion tracking levelling pole automatically.
Background technology
The ultimate principle of measurement of the level is to sight the discrepancy in elevation that the staff reading that stands vertically on 2 o'clock is measured point-to-point transmission with the horizontal line of sight of spirit-leveling instrument.
Measurement of the level has optics measurement of the level and digital leveling to measure two kinds of methods.
The optics measurement of the level be use at present at most, can satisfy the leveling measuring method of various grades, use optical level and levelling pole during measurement.Optical level mainly is made up of telescope, graticule, air level, shell and pedestal, and telescope is made of object lens, focusing lens, eyepiece, and automatic compensated level also has the self leveling device.Uniformly-spaced be carved with three level silks in that vertical direction is parallel on the graticule, be called silk, middle silk and following.The levelling pole that the optics measurement of the level is used is to be shaped on uniformly-spaced delineation and to the numerical reference of the height of delineation on blade, delineation has several different patterns again for the ease of discerning uniformly-spaced. when measuring with optical level, at first spirit-leveling instrument is installed on the tripod, and according to air level leveling spirit-leveling instrument, sight levelling pole and focusing clear after, according to the position of middle silk on levelling pole on the spirit-leveling instrument graticule, read the big reading part (rice and decimetre) of height by numerical reference, again according in the distance of silk and levelling pole delineation read little reading partly (centimetre and millimeter, and less than the part of millimeter). according to going up silk and following reading that reads on the spirit-leveling instrument graticule, can calculate the distance of spirit-leveling instrument and levelling pole by the principle of similar triangles.Just can obtain the difference of diverse location height according to the reading of the middle silk of the levelling pole of diverse location. the main recluse worker of optics measurement of the level finishes reading, and therefore the result of measurement can have the error that the observer causes, and speed is slower.Because measurement result is recorded on the paper medium, need recluse worker that the data input computer is calculated so on the one hand, time-consuming like this effort again, and the record mistake appears easily.
Digital leveling is measured the measurement of the level that can satisfy various grades, uses digital level and bar code levelling pole during measurement.Digital level mainly is made up of telescope, graticule, air level, self leveling device, image collecting device, computing machine, power supply, shell and pedestal.The bar code levelling pole is shaped on the bar code delineation by the unequal interval of certain scheme coding on blade, and does not have numerical reference.When measuring with digital level, at first spirit-leveling instrument is installed on the tripod, and according to air level leveling spirit-leveling instrument, sight levelling pole and focusing clear after, the image collecting device that computerizeds control obtains the image of the levelling pole in the visual field, tries to achieve height and distance according to the encoding scheme and the corresponding disposal route of the image that obtains, levelling pole.Because its measurement is finished automatically by machine, so the result is stable, and speed is very fast.
Above-mentioned the deficiencies in the prior art part is: existing spirit-leveling instrument needs at least two people could finish measurement, and one of them people is responsible for work such as turning to, aiming at of spirit-leveling instrument and focusing, and another people is responsible for levelling pole is moved on another aspect from a bit.In today that cost of labor grows to even greater heights, studying a kind of digital level that can realize that the one man operation measures automatically has its significant values.
Summary of the invention
Technical matters to be solved by this invention provides a kind of spirit-leveling instrument, is used for also finishing automatically from the motion tracking levelling pole digital level of measurement.
For solving the problems of the technologies described above, the invention provides a kind of digital level of automatic measurement, comprising: the wide-angle imaging disposal system, be used under the driving that horizontally rotates pedestal, seeking scale all around, calculate the azimuth-range at scale place then; The telescope focusing system is used for according to the azimuth-range of described scale by horizontally rotating the pedestal adjustment towards, automatic focusing behind the alignment scale; The CCD device is used for obtaining by the telescope focusing system exact image of scale after focusing; CPU element, be used for rotating corresponding angle so that telescope focusing system alignment scale according to the azimuth-range controlling level rotating basis at described scale place, drive the telescope focusing system then to corresponding focal length, and obtain in the CCD device image that forms scale, calculate the elevation and the distance of this scale at last, and store in the storer.
Further, described wide-angle imaging disposal system comprises: wide angle lens system, obtain the imageing sensor and the central processing unit that links to each other with imageing sensor of image by wide angle lens system; The wide-angle imaging disposal system is sought scale and calculate the method for azimuth-range at scale place as follows: image around described central processing unit obtains continuously by imageing sensor obtains ending when the image of scale is contained in an external world until described central processing unit; Described central processing unit finds scale by image matching algorithm and obtains its position coordinates in photo:
X1＝n1*P，
Y1＝n2*P，
Wherein, P is a pixel wide of imageing sensor, then can calculate scale position angle in the horizontal direction and be described orientation: β=((X1-0.5*N*P)/0.5*N*P) * α, wherein, N is the Horizontal number of pixels of imageing sensor, and α is the wide-angle angle of camera lens in the wide angle lens system; According to the shared pixel n3 of the length and width of image in photo of scale, n4 can calculate the distance at scale place: L=(H/n3*P) * L ', and wherein: H is the scale true altitude, and L ' is the amplification coefficient of camera optics system.
Further, the pattern on the scale of use is chequered with black and white bar code; Be the progress of guaranteeing to measure automatically, during the focusing of CPU element control fiducial mark chi, CPU element repeatedly drives and horizontally rotates pedestal and telescope focusing system, and in the CCD device, obtain corresponding image, CPU element is by the contrast of the described chequered with black and white bar code in the locational image of relatively more different focusing, judging best focusing position, thereby the telescope focusing system is accommodated to the optimum position.
As the digital level that another kind is measured automatically, the scale of use is provided with the wireless signal transmitting device that is used to detect the GPS receiver of scale position and is used for the positional information of detection scale is sent with wireless signal; Spirit-leveling instrument comprises: wireless signal receiver, the GPS receiver, the CPU element that are used to detect the spirit-leveling instrument position that is used to receive described wireless signal and draw the positional information of described scale, horizontally rotate pedestal, telescope focusing system and CCD device; CPU element is according to the information of spirit-leveling instrument position, the positional information of described scale, calculate the azimuth-range at the relative spirit-leveling instrument of scale place, then according to this azimuth-range by horizontally rotate pedestal adjust the telescope focusing system towards, control telescope focusing system automatic focusing then, and obtain in the CCD device image that forms scale, calculate the elevation and the distance of this scale at last, and store in the storer.Wherein, the pattern on the scale of use is chequered with black and white bar code; During the focusing of CPU element control fiducial mark chi, CPU element repeatedly drives and horizontally rotates pedestal and telescope focusing system, and in the CCD device, obtain corresponding image, CPU element is by the contrast of the locational image of relatively more different focusing, judging best focusing position, thereby the telescope focusing system is accommodated to the optimum position.
As the third digital level of measuring automatically, the scale of use is provided with laser reflective film or laser-bounce coating; Spirit-leveling instrument comprises: be located at the Laser emission and the receiving system that horizontally rotate on the pedestal, be used for launching laser and receiving reflection ray when horizontally rotating the pedestal rotation, to determine the azimuth-range at scale place; Spirit-leveling instrument also comprises: CPU element, telescope focusing system and CCD device; CPU element turns to this orientation according to the azimuth-range controlling level rotating basis of described scale, and control telescope focusing system automatic focusing, and obtain the image that in the CCD device, forms scale, calculate the elevation and the distance of this scale at last, and store in the storer.Wherein, the pattern on the scale of use is chequered with black and white bar code; During the focusing of CPU element control fiducial mark chi, CPU element repeatedly drives and horizontally rotates pedestal and telescope focusing system, and in the CCD device, obtain corresponding image, CPU element is by the contrast of the locational image of relatively more different focusing, judging best focusing position, thereby the telescope focusing system is accommodated to the optimum position.
The present invention has positive effect: the spirit-leveling instrument in (1) first kind of scheme of the present invention in use, the wide-angle imaging disposal system is sought scale all around under the driving that horizontally rotates pedestal, after finding scale, calculate coarse positional information (comprising concrete position angle and distance parameter) at scale place in the A position.Then by horizontally rotating pedestal regulation and control system mirror focusing system far away towards the A position, automatic focusing behind the alignment scale; CPU element calculates the accurate positional information (comprising elevation and range information) of this scale, and stores in the storer by obtaining the image that forms scale in the CCD device; After scale is moved on to the B position, adopt and obtain the positional information of scale in the same way in the B position, can draw the discrepancy in elevation of point-to-point transmission at last at 2 by the related data on relatively A, the B.(2) for obtaining best focusing position, CPU element repeatedly drives and horizontally rotates pedestal, angle with continuous fine adjustment telescope focusing system alignment scale, and by comparing the contrast of the described chequered with black and white bar code in the locational images of different focusing, to judge best focusing position, as Fig. 4, this moment the fiducial mark chi image in the centre imaging of CCD, thereby measuring error is reduced to minimum.Spirit-leveling instrument in (3) second kinds of schemes in use, determine the relative position of spirit-leveling instrument and scale by the GPS positioning system, controlling mirror focusing system alignment scale far away then focuses, last CPU element calculates the accurate positional information of this scale by obtaining the image that forms scale in the CCD device; This method is suitable for the measurement of big distance.Spirit-leveling instrument in (4) second kinds of schemes utilizes the principle of laser rectilinear propagation, and the scale of use is provided with laser reflective film or laser-bounce coating; Spirit-leveling instrument is suitable for transmitting and receiving simultaneously laser when using, thereby find out the approximate location at scale place,, control mirror focusing system alignment scale far away then and focus, last CPU element calculates the accurate positional information of this scale by obtaining the image that forms scale in the CCD device.
Description of drawings
For the easier quilt of content of the present invention is clearly understood, below the specific embodiment and in conjunction with the accompanying drawings of basis, the present invention is further detailed explanation, wherein
Fig. 1 moves on to the B position for the digital level among the embodiment with the scale of A position, and the synoptic diagram of sighting again, measure, writing down automatically;
Fig. 2 is the structured flowchart of the digital level among the embodiment;
Fig. 3 is the imaging synoptic diagram of the wide-angle imaging disposal system among the embodiment;
The image that Fig. 4 forms in the CCD device when accommodating to the optimum position for telescope focusing system among the embodiment;
Fig. 5 is the elevation of the digital level of the automatic measurement among the embodiment, the calculation flow chart of distance;
Fig. 6 is the reference diagram of the calculating of the sighting distance L among the embodiment.
Embodiment
(embodiment 1)
See Fig. 1-6, the digital level of a kind of automatic measurement of the present invention comprises: wide-angle imaging disposal system 1, be used under the driving that horizontally rotates pedestal 3, seeking scale a all around, and calculate the azimuth-range at scale a place then; Telescope focusing system 4 is used for adjusting towards, automatic focusing behind the alignment scale a by horizontally rotating pedestal 3 according to the azimuth-range of described scale a; CCD device 5 is used for obtaining by telescope focusing system 4 exact image of scale a after focusing; CPU element 2, be used for rotating corresponding angle so that telescope focusing system 4 alignment scale a according to the azimuth-range controlling level rotating basis 3 at described scale a place, drive telescope focusing system 4 then to corresponding focal length, and obtain in CCD device 5 image that forms scale a, calculate elevation and the distance of this scale a at last, and store in the storer.
Described wide-angle imaging disposal system 1 comprises: wide angle lens system, obtain the imageing sensor and the central processing unit that links to each other with imageing sensor of image by wide angle lens system; Wide-angle imaging disposal system 1 is sought scale a and calculate the method for azimuth-range at scale a place as follows: image around described central processing unit obtains continuously by imageing sensor obtains ending when the image of scale a is contained in an external world until described central processing unit; Described central processing unit finds scale a and obtains its position coordinates in photo by image matching algorithm:
X1＝n1*P，
Y1＝n2*P，
Wherein, P is a pixel wide of imageing sensor, then can calculate scale a position angle in the horizontal direction and be described orientation: β=((X1-0.5*N*P)/0.5*N*P) * α, wherein, N is the Horizontal number of pixels of imageing sensor, and α is the wide-angle angle of camera lens in the wide angle lens system; According to the shared pixel n3 of the length and width of image in photo of scale a, n4 can calculate the distance at scale a place: L=(H/n3*P) * L ', and wherein: H is the scale true altitude, and L ' is the amplification coefficient of camera optics system.
Pattern on the scale a that uses is chequered with black and white bar code; During CPU element 2 control fiducial mark chi a focusing, CPU element drives for more than 2 time and horizontally rotates pedestal 3 and telescope focusing system 4, and in CCD device 5, obtain corresponding image, CPU element 2 is by the contrast of the described chequered with black and white bar code in the locational image of relatively more different focusing, judging best focusing position, thereby telescope focusing system 4 is accommodated to the optimum position.
See Fig. 2, wide-angle imaging disposal system 1 can identify the scale of spirit-leveling instrument in the scope of 0.5～500m during use, and the position that calculates its place (comprises distance, the position angle), and position data is transferred to CPU element 2, CPU element 2 output signals, driving horizontally rotates pedestal 3 rotations and aims at the spirit-leveling instrument scale, it is last to given distance to drive telescope focusing system 4 simultaneously, in CCD device 5, will form the image of scale a this moment, by amplifier 6, analog to digital converter 7 transfers signals to CPU element 2, CPU element 2 can horizontally rotate pedestal 3 and telescope focusing system (4) obtaining best image by calculating repeatedly to drive, and then the elevation at calculating place scale place and distance store in the storer.Can draw the discrepancy in elevation of point-to-point transmission by the related data on relatively A, the B at 2, and show by display.
See Fig. 3, the image in the wide-angle imaging machine can go out azimuth angle alpha and the distance L of scale a according to this image calculation; See Fig. 4, the image in can CCD device 5 calculates precision, distance L and the elevation H of focusing.Wherein, sighting distance computing formula: L=f*H/X+C, in the formula, L: instrument is to the distance of scale; F: the telescopical focal length of spirit-leveling instrument; H: the width of bar code; X: the imaging width of bar code on CCD; C: revise constant.
(embodiment 2)
On the basis of embodiment 1, the digital level of the automatic measurement of present embodiment has following distortion:
The scale a that uses is provided with laser reflective film or laser-bounce coating; Spirit-leveling instrument b comprises: be located at the Laser emission and the receiving system that horizontally rotate on the pedestal 3, be used for launching laser and receiving reflection ray when horizontally rotating pedestal 3 rotations, to determine the azimuth-range at scale a place; Spirit-leveling instrument b also comprises: CPU element 2, telescope focusing system 4 and CCD device 5; CPU element 2 turns to this orientation according to the azimuth-range controlling level rotating basis 3 of described scale a, and control telescope focusing system 4 automatic focusings, and obtain the image that in CCD device 5, forms scale a, calculate elevation and the distance of this scale a at last, and store in the storer.
Wherein, the pattern on the scale a of use is chequered with black and white bar code; During CPU element 2 control fiducial mark chi a focusing, CPU element drives for more than 2 time and horizontally rotates pedestal 3 and telescope focusing system 4, and in CCD device 5, obtain corresponding image, CPU element 2 is by the contrast of the described chequered with black and white bar code in the locational image of relatively more different focusing, judging best focusing position, thereby telescope focusing system 4 is accommodated to the optimum position.
(embodiment 3)
On the basis of embodiment 1, the digital level of the automatic measurement of present embodiment has following distortion:
The scale a that uses is provided with the wireless signal transmitting device that is used to detect the GPS receiver of scale a position and is used for the positional information of detection scale a is sent with wireless signal.
Spirit-leveling instrument b comprises: be used to the wireless signal receiver that receives described wireless signal and draw the positional information of described scale a, the GPS receiver that is used to detect spirit-leveling instrument b position, CPU element 2, horizontally rotate pedestal 3, telescope focusing system 4 and CCD device 5; CPU element 2 is according to the information of spirit-leveling instrument b position, the positional information of described scale a, calculate the azimuth-range at the relative spirit-leveling instrument b of scale a place, then according to this azimuth-range by horizontally rotate pedestal 3 adjust telescope focusing systems 4 towards, control telescope focusing system 4 automatic focusings then, and obtain in CCD device 5 image that forms scale a, calculate elevation and the distance of this scale a at last, and store in the storer.
Wherein, the pattern on the scale a of use is chequered with black and white bar code; During CPU element 2 control fiducial mark chi a focusing, CPU element drives for more than 2 time and horizontally rotates pedestal 3 and telescope focusing system 4, and in CCD device 5, obtain corresponding image, CPU element 2 is by the contrast of the described chequered with black and white bar code in the locational image of relatively more different focusing, judging best focusing position, thereby telescope focusing system 4 is accommodated to the optimum position.
The major function of described GPS receiver is can capture by the selected satellite to be measured of certain satellite cutoff angle, and follows the tracks of the operation of these satellites.Arrive the satellite-signal of tracking when receiver acquisition after, just can measure receiving antenna, demodulate data such as satellite orbit parameter to the pseudo-distance of satellite and the rate of change of distance.According to these data, the little process computer in the receiver just can position calculating by the positioning calculation method, calculate the longitude and latitude of user geographic location, highly, information such as speed, time.
(embodiment 4)
On the basis of embodiment 2, the digital level of the automatic measurement of present embodiment has following distortion:
As another kind of embodiment, CPU element 2 among the spirit-leveling instrument b can be directly according to the scale a in the A position send gps signal and the gps signal that sends of the scale a in the B position, the gps signal that directly calculates the position calculates the discrepancy in elevation of 2 of A, B, and shows by display.
Obviously, the above embodiment of the present invention only is for example of the present invention clearly is described, and is not to be qualification to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here need not also can't give exhaustive to all embodiments.And these belong to conspicuous variation or the change that spirit of the present invention extended out and still are among protection scope of the present invention.
Claims (7)
1, a kind of digital level of automatic measurement is characterized in that comprising:
Wide-angle imaging disposal system (1) is used for seeking scale (a) all around under the driving that horizontally rotates pedestal (3), calculates the azimuth-range at scale (a) place then;
Telescope focusing system (4) is used for adjusting towards, alignment scale (a) back automatic focusing by horizontally rotating pedestal (3) according to the azimuth-range of described scale (a);
CCD device (5) is used for obtaining by telescope focusing system (4) exact image of scale (a) after focusing;
CPU element (2), be used for rotating corresponding angle so that telescope focusing system (4) alignment scale (a) according to the azimuth-range controlling level rotating basis (3) at described scale (a) place, drive telescope focusing system (4) then to corresponding focal length, and obtain in CCD device (5) image that forms scale (a), calculate the elevation and the distance of this scale (a) at last, and store in the storer.
2, the digital level of automatic measurement according to claim 1 is characterized in that: described wide-angle imaging disposal system (1) comprising: wide angle lens system, obtain the imageing sensor and the central processing unit that links to each other with imageing sensor of image by wide angle lens system;
Wide-angle imaging disposal system (1) is sought scale (a) and calculates the method for azimuth-range at scale (a) place as follows:
Image around described central processing unit obtains continuously by imageing sensor obtains ending when the image of scale (a) is contained in an external world until described central processing unit;
Described central processing unit finds scale (a) and obtains its position coordinates in photo by image matching algorithm:
X1＝n1*P，
Y1＝n2*P，
Wherein, P is a pixel wide of imageing sensor,, then can calculate scale (a) position angle in the horizontal direction and be described orientation: β=((X1-0.5*N*P)/0.5*N*P) * α,
Wherein, N is the Horizontal number of pixels of imageing sensor, and α is the wide-angle angle of camera lens in the wide angle lens system;
According to the shared pixel n3 of the length and width of image in photo of scale (a), n4 can calculate the distance at scale (a) place: L=(H/n3*P) * L ',
Wherein H is the scale true altitude, and L ' is the amplification coefficient of camera optics system.
3, the digital level of automatic measurement according to claim 1 and 2 is characterized in that:
Pattern on the scale (a) that uses is chequered with black and white bar code;
During CPU element (2) control fiducial mark chi (a) focusing, CPU element (2) repeatedly drives and horizontally rotates pedestal (3) and telescope focusing system (4), and in CCD device (5), obtain corresponding image, CPU element (2) is by the contrast of the described chequered with black and white bar code in the locational image of relatively more different focusing, judging best focusing position, thereby telescope focusing system (4) is accommodated to the optimum position.
4, a kind of digital level of automatic measurement is characterized in that: the scale of use (a) is provided with the GPS receiver and the wireless signal transmitting device that is used for the positional information that detects scale (a) is sent with wireless signal that is used to detect scale (a) position;
Spirit-leveling instrument (b) comprising: be used to receive described wireless signal and draw the wireless signal receiver of the positional information of described scale (a), the GPS receiver that is used to detect spirit-leveling instrument (b) position, CPU element (2), horizontally rotate pedestal (3), telescope focusing system (4) and CCD device (5);
CPU element (2) is according to the positional information of the information of spirit-leveling instrument (b) position, described scale (a), calculate scale (a) azimuth-range at spirit-leveling instrument (b) place relatively, then according to this azimuth-range by horizontally rotate pedestal (3) adjust telescope focusing system (4) towards, control telescope focusing system (4) automatic focusing then, and obtain in CCD device (5) image that forms scale (a), calculate the elevation and the distance of this scale (a) at last, and store in the storer.
5, the digital level of automatic measurement according to claim 4 is characterized in that:
Pattern on the scale (a) that uses is chequered with black and white bar code;
During CPU element (2) control fiducial mark chi (a) focusing, CPU element (2) repeatedly drives and horizontally rotates pedestal (3) and telescope focusing system (4), and in CCD device (5), obtain corresponding image, CPU element (2) is by the contrast of the described chequered with black and white bar code in the locational image of relatively more different focusing, judging best focusing position, thereby telescope focusing system (4) is accommodated to the optimum position.
6, a kind of digital level of automatic measurement is characterized in that:
The scale (a) that uses is provided with laser reflective film or laser-bounce coating;
Spirit-leveling instrument (b) comprising: be located at the Laser emission and the receiving system that horizontally rotate on the pedestal (3), be used for launching laser and receiving reflection ray when horizontally rotating pedestal (3) rotation, to determine the azimuth-range at scale (a) place;
Spirit-leveling instrument (b) also comprises: CPU element (2), telescope focusing system (4) and CCD device (5);
CPU element (2) turns to this orientation according to the azimuth-range controlling level rotating basis (3) of described scale (a), and control telescope focusing system (4) automatic focusing, and obtain in CCD device (5) image that forms scale (a), calculate the elevation and the distance of this scale (a) at last, and store in the storer.
7, the digital level of automatic measurement according to claim 6 is characterized in that:
Pattern on the scale (a) that uses is chequered with black and white bar code;
During CPU element (2) control fiducial mark chi (a) focusing, CPU element (2) repeatedly drives and horizontally rotates pedestal (3) and telescope focusing system (4), and in CCD device (5), obtain corresponding image, CPU element (2) is by the contrast of the described chequered with black and white bar code in the locational image of relatively more different focusing, judging best focusing position, thereby telescope focusing system (4) is accommodated to the optimum position.
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