CN102032891A - Self-adaptive target device and implementation method thereof - Google Patents
Self-adaptive target device and implementation method thereof Download PDFInfo
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- CN102032891A CN102032891A CN 200910093764 CN200910093764A CN102032891A CN 102032891 A CN102032891 A CN 102032891A CN 200910093764 CN200910093764 CN 200910093764 CN 200910093764 A CN200910093764 A CN 200910093764A CN 102032891 A CN102032891 A CN 102032891A
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Abstract
The invention relates to a self-adaptive target device and an implementation method. A digital tracking and measuring unit and a target driving unit are connected with a data acquisition sending and processing unit; the target driving unit and the digital tracking and measuring unit establish connection by a manner of acquiring images through remote shooting; the digital tracking and measuring unit shoots planar projection images with structural characteristics of center lines in the target driving unit, and sends the planar projection images with structural characteristics of the center lines to the data acquisition sending and processing unit; the data acquisition sending and processing unit receives, stores and processes the planar projection images with structural characteristics of the center lines, judges the size and the direction of rotating amount needed by a target according to the position of the structural characteristics of the center lines in the planar projection image and sends the size and the direction to the target driving unit; and after the target driving unit receives the size and the direction of rotating amount needed by the target, a motor of the target driving unit is controlled to drive the target to rotate according to an instruction sent by the data acquisition sending and processing unit, and enable the target of the target driving unit to align a laser beam sent by a total station.
Description
Technical field
The invention belongs to the laser measuring technique field, relate to a kind of self-adaptation target device and its implementation.
Background technology
Along with the development of total powerstation technology, the precision of measurement, robotization, intelligent degree improve constantly.The full-automatic total powerstation that has automatic recognition function at present can be realized the sighting automatically of target, locking tracking, measure and record automatically, and the good reputation of " robot measurement " is arranged.Total powerstation is made up of laser range finder, bidimensional slew gear and high precision code-disc, can realize to target from motion tracking.Target is the important component part that constitutes total station measuring system, and target and measured target are connected firmly, and its effect is to represent the position reflector laser signal of measured target to realize angle, distance and the position measurement of system to measured target.The main type of target has prismatic lens, angle prism, 360 ° of prisms etc. at present.Target is as the cooperative target of the angle and distance measuring signal of measuring system, the final performance that bearing accuracy of itself and accommodation directly influence total station survey.
Prismatic lens can only be applied to manually sight measurement pattern, can not cooperate total powerstation to realize the sighting automatically of target, locking tracking, measure and record automatically.
The essence of angle prism is a corner reflection prism, is the tetrahedron that is made of 3 mutually perpendicular reflectings surface, and bearing accuracy can reach nanoscale.Along with the increase of incident angle, the useful area of reflector laser reduces, the signal weakening that reflects, and the incident angle of angle prism can not surpass ± 20 °, can't find range when incident angle is excessive, becomes the bottleneck of restriction total station survey scope.
360 ° of prisms form positive six cylinders by the staggered up and down amalgamation group of 6 corner reflection prisms.Because the structure of 360 ° of prisms itself, make 360 ° of prisms measure realizing in the horizontal direction from the signal of any angle incident, wrong being distributed on the sphere that radius is 33mm of 6 prismatic reflections hand-deliver of 360 ° of prisms, during measurement when laser is beaten on the prisms different in 6 prisms, bearing accuracy reduces, 360 ° of whole bearing accuracies of prism are 5mm, become the bottleneck of total station survey precision.
Summary of the invention
In order to solve prior art problems, the present invention is directed in the total station survey the demand of target high position precision and wide-measuring range, a kind of self-adaptation target device and implementation method are proposed.
For reaching described purpose, a first aspect of the present invention provides a kind of self-adaptation target device, and this device comprises that digital tracking measurement unit, data acquisition send processing unit and target driver element;
Digital tracking measurement unit sends processing unit with data acquisition respectively with the target driver element and is connected, having the target driver element of centerline structure feature and digital tracking measurement unit obtains image mode with long-range shooting and sets up and get in touch, have the plane projection image of centerline structure feature in the digital tracking measurement unit photographs target driver element, and the plane projection image that will have a centerline structure feature sends to data acquisition and sends processing unit; Data acquisition sends processing unit and receives, stores and handle and receive the plane projection image that has the centerline structure feature, according to the position of centerline structure feature in the plane projection image, judging target needs the size and the sense of rotation of rotation amount to send to the target driver element; After the target driver element receives that target need rotate size and Orientation information, the driven by motor target of control target driver element sends the steering order rotation that processing unit is sent by data acquisition, makes the target of target driver element aim at the laser beam that total powerstation is sent with best angle.
For reaching described purpose, second aspect present invention provides a kind of implementation method of self-adaptation target, comprises the steps:
Step S1: beginning, system unit are installed and are connected;
Step S2: device start also carries out initialization, makes equipment enter stable operation stage;
Step S3: data acquisition sends the data processing module control system operation beginning in the processing unit and finishes;
Step S4: the plane projection image of the band center line feature structure of digital tracking measurement unit photographs target driver element, and send these plane projection image data to data acquisition and send processing unit;
Step S5: data acquisition sends that processing unit logarithmic code measuring unit takes that the plane projection image data that the target supporting body has a centerline structure feature are gathered, the pre-service of plane projection image and plane projected image rim detection;
Step S6: with calculating the size and Orientation that target need rotate in the data processing module in the data acquisition transmission processing unit, data acquisition sends profile centering line left and right sides two parts line segment ratio or the area ratio that processing unit calculates the plane projection image that has the centerline structure feature, calculates size and sense of rotation that target is answered rotation amount;
Step S7: judge that whether the corner that calculates target is greater than 5 degree;
Step S8: return step S4 as corner less than 5 degree, send to the target driver element if corner is spent then generated steering order greater than 5;
Step S9: the controller in the target driver element sends the steering order control motor rotation that processing unit is sent according to data acquisition, drives target and rotates;
Step S10: target rotates to be finished the back and judges, as receives that exit instruction then withdraws from, and carries out otherwise begin circulation from step S4 again, makes the incident angle of the laser directive target that total powerstation sends keep spending less than 5 always.
Technique effect of the present invention or advantage: in total station measuring system, introduce digital measurement and target Spin Control technology and improved measuring accuracy and measurement range, adopt digital tracking measurement technology to measure the angle of target prism facets misalignment total powerstation collimation axis in real time, control-driven system in target driver element control motor rotating band moving-target mark rotate make target total keep with total powerstation over against state, thereby available high precision target is finished large-range measuring, makes to realize in the use of total station survey technology that the two of precision and scope break through.Advantage of the present invention is as follows:
1, measuring accuracy reaches the angle prism measuring accuracy.
2, measurement range reaches the measurement range of 360 ° of prisms.
3, digital measuring equipment and total powerstation connect firmly, and have saved the measurement tracking means, simplify the structure and have reduced cost.
4, the target feature structure that has center line has been simplified data handling procedure, has increased accuracy.
The technology of the present invention has realized total powerstation high precision, large-scale accurate real-time follow-up, and the precision measurement of making the field for the great equipment of country provides a kind of measurement means cheaply.
Description of drawings
Fig. 1 is the structured flowchart of apparatus of the present invention;
The digital tracking measurement cellular construction of Fig. 2 synoptic diagram;
Fig. 3 data acquisition sends the processing unit block diagram;
Fig. 4 target driver element of the present invention is formed block scheme;
Fig. 5 the present invention has the target supporting body general assembly synoptic diagram of centerline structure feature;
Fig. 6 self-adapting closed loop control flow chart of the present invention;
Fig. 7 system of the present invention pie graph;
Take the plane projection image of target supporting body in Fig. 8 embodiment of the invention;
Plane projection image in Fig. 9 embodiment of the invention after pre-service and the marginalisation.
Embodiment
Describe each related detailed problem in the technical solution of the present invention in detail below in conjunction with accompanying drawing.Be to be noted that described embodiment only is intended to be convenient to the understanding of the present invention, and it is not played any qualification effect.
Consult Fig. 1 and Fig. 7, self-adaptation target device of the present invention comprises that digital tracking measurement unit 1, data acquisition send processing unit 2, target driver element 3; Digital tracking measurement unit 1 sends processing unit 2 with data acquisition respectively with target driver element 3 and is connected.The target driver element 3 that has the centerline structure feature obtains image mode foundation with digital tracking measurement unit 1 with long-range shooting and gets in touch, digital tracking measurement unit 1 is taken target driver element 3 and is had the plane projection image of centerline structure feature, and the plane projection image that will have a centerline structure feature sends to data acquisition and sends processing unit 2; Data acquisition sends processing unit 2 and receives, stores and handle and receive the plane projection image that has the centerline structure feature, according to the position of centerline structure feature in the plane projection image, judge the size and Orientation that target need horizontally rotate and send to target driver element 1; After target driver element 3 receives that target need rotate size and Orientation information, driven by motor target in the control target driver element 3 sends the steering order rotation that processing unit 2 is sent by data acquisition, makes the target in the target driver element 3 aim at the laser beam that total powerstation 12 is sent with best angle.
The structure of digital as shown in Figure 2 tracking measurement unit 1, digital tracking measurement unit 1 is made of jointly the digital measuring unit 11 and the angle measurement tracking cell 121 of total powerstation 12, total powerstation 12 both sides are fixedly connected with two magnetic supports, be fixedly connected with digital measuring unit 11 and counterweight 13 in a side of two magnetic supports, make total powerstation 12 keep balance rotating and form integrative-structure, the digital measurement data output line of digital measuring unit 11 sends processing unit 2 with data acquisition and links to each other, utilize the angle measurement tracker 121 of total powerstation 12 to realize the target of target driver element 3 is followed the tracks of, digital measuring unit 11 is used for the plane projection image that long-range shooting target driver element 3 has the centerline structure feature, and this plane projection image that has the centerline structure feature is sent to data acquisition transmission processing unit 2.In force, digital measuring unit 11 can be selected the complete digital photographing measurement instrument group of encapsulation for use, and this example adopts the IMPERX camera to cooperate the kowa camera lens to take.Total powerstation 12 can adopt various laser total stations, this example adopts come card TCRA1101 type total powerstation, digital measurement instrument group is connected no accuracy requirement with 12 of total powerstations, only requires digital measurement instrument group and total powerstation 12 servo-actuateds, and target 325 gets final product in digital measuring unit 11 visual fields.
Data acquisition sends the structure of processing unit 2 as shown in Figure 3, data acquisition sends processing unit 2 and comprises: data acquisition module 21, data processing module 22 and data transmission blocks 23, in computing machine, reach corresponding algorithm software program and realize data acquisition module 21, the function of data processing module 22 and data transmission blocks 23, data acquisition module 21 receives, store the plane projection image that the target supporting body of sending digital tracking measurement unit 1 323 has the centerline structure feature, data processing module 22 is connected with data acquisition module 21, data processing module 22 at first carries out pre-service and rim detection to the plane projection image data that target supporting body 323 has a centerline structure feature, according to the position of centerline structure feature in the plane projection image, and the plane projection image of the target supporting body 323 of analytic band own centre line architectural feature, calculate the off-centered size and Orientation of center line according to the both sides line segment ratio or the area ratio that are as the criterion with center line, the off-centered size and Orientation of center line is exactly the size and Orientation that target 325 need horizontally rotate, and needs the size and Orientation data of rotation to export to data transmission blocks target 325; Data transmission blocks 23 is connected with data processing module 22, and data transmission blocks 23 needs the size and Orientation data processed result of rotation to send to target driver element 3 target 325 of data processing module 22 outputs.Data transmission blocks 23 can be selected for use and adopt wired or wireless communication modes, data transmission blocks 23 available markets shaped articles, data transmission blocks 23 adopts AT89S528 position single-chip microcomputer in this example, communication interface adopts SRMF-1021 module and 75LBC184, the SRMF-1021 module is that the wireless data transmission module that is operated under the 433MHz adopts the FSK modulation system, emissive power 10dBm, interface rate 2400bps, the 75LBC184 communication interface is 485 bus drivers, it and wireless data transmission module adopt the pattern of alternative to carry out work, adopt wireless communication mode work in this example.Computing machine is selected to have the PC that the PCI slot is installed and is got final product.
The structure of target driver element 3 as shown in Figure 4, target driver element 3 comprises: control enclosure 31 and follower 32 two parts, follower 32 receive the drive driven by motor target rotation of the motor rotation size and Orientation that control enclosurees 31 send; Comprise data reception module 311 and drive control module 312 in the control enclosure 31, follower comprises motor base 321, motor 322, has the target supporting body 323 of centerline structure feature 3231, magnetic support 324 and target 325.
Motor 322 is at motor base 321 and have between the target supporting body 323 of centerline structure feature, and motor 322 is fixedlyed connected with motor base 321, the turning axle of motor 322 is rotationally connected with the target supporting body 323 that has the centerline structure feature, magnetic support 324 is fixed on the target supporting body 323, target 325 is fixed on the magnetic support 324, described data reception module 311 is connected with drive control module 312, the target 325 that data reception module 311 reception data acquisitions transmission processing units 2 are sent with wireless mode needs the size and Orientation information of rotation, wireless signal is converted to wire signal sends to drive control module 312, drive control module 312 converts the target 325 rotation size and Orientation information of receiving to the umber of pulse of drive motor 322 runnings according to the driving parameters of motor 322, the drive control module 312 of control enclosure 31 links to each other with the drive wire of the motor 322 of follower 32, realizes the driving to motor 322.The target supporting body 323 that has centerline structure feature 3231, magnetic support 324 and the target 325 of control follower 32 rotate with motor 322, are taken by digital tracking measurement unit 1 to have a centerline structure feature on the target supporting body 323.
A) data reception module 311 is positioned at control enclosure 31 shown in Figure 4, data reception module 311 and data acquisition send the data transmission blocks 23 corresponding connections in the processing unit 2, AT89S52 and 75LBC184 are adopted in two kinds of optional wired and wireless telecommunications in this example equally;
B) drive control module 312 and data reception module 311 are placed in as shown in Figure 4 the control enclosure 31 jointly, and drive control module 312 uses the HIP4020 of two Intersil companies as motor drive ic;
C) motor in the follower 32 shown in Figure 4 322 selects to have the stepper motor of enough driving forces, adopts the AM1020 micro-step motor of Switzerland ARSAPE company in this example, external diameter 10mm, diameter of axle 1.2mm, stepping angle 18 degree, maximum static torque 1.6mNm, reducer casing diameter of axle 2mm.Motor body and motor base 321 connect firmly, and are guaranteed axle center and 321 installation accuracies of motor base of motor 322 by process.The turning axle of motor 322 connects firmly by register pin and target supporting body 323, guarantees can drive target supporting body 323 with commentaries on classics when motor 322 rotates.
C) target supporting body 323 outsides connect firmly by magnetic support 324 and target 325, target supporting body 323 inner turning axles with motor 322 connect firmly, the 323 surperficial blackings of target supporting body, it is to have centerline structure feature 3231 as shown in Figure 5 that one vertical bar white reflection line is arranged on the blacking surface, is used for digital measurement image analysis.
D) target 325 is chosen as retroreflector, solid corner cube or 360 prisms etc., and this example adopts retroreflector, and magnetic support 324 holds target 325, and the register pin of magnetic support 324 and target supporting body 323 connect firmly.
Now implementing method in the present embodiment and part algorithmic formula are described below:
The plane projection image is gathered: plane projection image file writes data with the raw form.The Raw form is the simplest a kind of plain streams form.Direct data matrix with plane projection image gray scale writes graphic file successively according to the ranks order and gets final product.To select the pixel degree of depth of CCD light-sensitive array chip for use be 10 bits to CCD in the IMPERX camera since during data output with whole byte output, so a data element accounts for two bytes in the graph data matrix.The figure of CCD output is 1000 * 1000 matrix, by program adopt the picture size of a width of cloth raw form be about the 2M byte.
In this example, adopt the IMPERX camera to cooperate the kowa camera lens that the target supporting body 323 that has centerline structure feature 3231 is taken, by image pick-up card vision signal is carried out the A/D conversion after, be sent on the supporting PC and store by data line.
The plane projection image that 22 pairs of shootings of data processing module target supporting body 323 has centerline structure feature 3231 carries out pre-service and rim detection.The pretreated fundamental purpose of image is the plane projection image (Fig. 8) of the target supporting body of taking 323 that has centerline structure feature 3231 to be handled as elimination disturb, noise is also done geometry correction, colour correction, recover useful real information, enhancing plane projection image hits and marks the detectability of supporting body edge and target supporting body architectural feature center line, thereby improves the reliability of feature extraction, image segmentation, coupling and identification.Rim detection is very important in Flame Image Process, and multiple edge detection method is arranged.For step edge, rim detection is actually a kind of method of cutting apart based on uncontinuity, also is the local characteristics of change detected type, for example, and the sudden change of the sudden change of gray-scale value, the sudden change of color, texture structure etc.The edge detection operator of widespread use now mainly contains operators such as Roberts, Sobel, Prewitt, Canny, log.The different different operators of Flame Image Process environmental applications, this example use the Sobel operator to carry out rim detection to pretreated image in extracting the edge feature process, have detected the tangible marginal portion of object being measured.
The rotation amount of target 325 and sense of rotation judge that resolving algorithm is: it is to set centerline structure feature BCGF to be arranged in target supporting body plane projection image ADHE that the rotation amount of described judgement target and sense of rotation are calculated, if centerline structure feature BCGF is k with two ends, target supporting body plane projection image ADHE left and right sides distance than AB/CD, target is aimed at the laser beam that total powerstation is sent with best angle when k equals 1, if the target θ that need rotate a certain angle makes target aim at the laser beam that total powerstation is sent with best angle when k is not equal to 1, the angle of target left rotation and right rotation is less than pi/2 θ ∈ (pi/2 during operate as normal, pi/2), θ can be by as shown in the formula calculating:
Adjust when spending when target departs from according to design, adjust the size of line segment AB/CD ratio k, make that target is in motionless state, target turns left and the target right-hand rotation greater than 5.
The target of control target 325 rotations is to make the center line that has in the centerline structure characteristic image of taking target supporting body 323 be positioned at the centre position that this has the centerline structure characteristic image, be that AB/CD approximates 1 among Fig. 8, wherein ADHE is the plane picture of target supporting body on digital measuring unit, because it is the plane picture of center line on digital measuring unit that center line has certain width B CGF, if it is that fault needs manual intervention that center line produces the visual field, under the normal operation angle of left rotation and right rotation be made as θ all less than 90 the degree promptly at (pi/2, pi/2).AB/CD ratio is made as k, then
Adjust when spending greater than 5 when target 325 departs from according to design, target 325 is motionless when 0.8397＞k＞1.1910; When k 〉=1.1910, target 325 turns left; When k≤0.8397, target is turned right.
In decision problem at the rotation size and Orientation, two kinds of solutions have been designed, the one, the method for backguy section, after finishing marginalisation, scan with the method for the backguy section plane projection image after to rim detection, scan lines is shown in A ' B ' C ' D ' among Fig. 9, wherein Fig. 9 is the plane projection image that Fig. 8 passes through the target supporting body that forms after the image pre-service, ADHE among the figure is periphery 4 points of target supporting body plane projection image, BCGF is periphery 4 points of the plane projection image of centerline structure feature on the target supporting body, as seen from the figure, AB/CD=A ' B '/C ' D ', it hands over plane projection image edge in 4 A ' B ' C ' D ', and can obtain 4 coordinate figure and calculate A ' B '/C ' D ' by calculating is the k value.The 2nd, area-method, as seen from Figure 9, line segment AB/CD=S
ABFE/ S
CDHG=k, computed image connected region area can obtain having the plane projection image BCGF left part area S of centerline structure feature
ABFERight part area S
CDHGArea compare S
ABFE/ S
CDHG, k is left part area S
ABFERight part area S
CDHGArea ratio.
As Fig. 6 method flow diagram is shown, gather digital tracking measurement unit 1 and take the plane projection image output data that has the centerline structure feature on the target supporting body 323, through after the preliminary image pre-service, carry out rim detection, detect the tangible marginal portion of measured target, the algorithm of employing line segment ratio or area ratio calculates target 325 needs the size and Orientation of rotation to send to 3 execution of target driver element.Corresponding algorithm flow mainly consists of the following components:
(1) beginning, hardware connects: digital measuring unit 11 connects firmly with total powerstation 12, the DOL Data Output Line of digital measuring unit 11 links to each other with data processing module 22, target 325 is installed on the target supporting body 323, the turning axle of motor 322 and target supporting body 323 connect firmly, and motor 322 and motor base 321 connect firmly;
(2) device start and carry out initialization makes equipment enter stable operation stage; The prism facets center of affirmation target 325 and the collimation axis of total powerstation 12 are on same line segment, the feature structure 3231 of the band center line of affirmation target driver element 3 is in the visual field of digital tracking measurement unit 1, and data acquisition sends processing unit 2 and carries out the communication affirmation with target driver element 3;
(3) data acquisition sends the data processing module 22 control system operation beginning in the processing unit 2 and finishes;
(4) the plane projection image of target driver element 3 band centerline structure features 3231 is taken in digital tracking measurement unit 1, and sends these plane projection image data to data acquisition and send processing unit 2;
(5) data acquisition send that processing unit 2 logarithmic code measuring units 11 take that the plane projection image data that target supporting bodies 323 have centerline structure feature 3231 are gathered, image pre-service and rim detection, data acquisition transmission processing unit 2 logarithmic code measuring units 11 obtain the plane projection image that has the centerline structure feature and carry out pre-service, as elimination interference, noise and do geometry correction, the detectability of enhancing information and reliability, use the Sobel operator that pretreated image is carried out rim detection, detected the tangible marginal portion of measured target;
(6) calculate the size and Orientation that target 325 needs rotation with the image processing software in the data processing module 22 in the data acquisition transmission processing unit 2, data acquisition sends processing unit 2 logarithmic code measuring units 11 and takes profile centering line left and right sides two parts line segment ratio or the area ratio that target supporting body 323 has the plane projection image of centerline structure feature 3231, goes out the size and Orientation that target 325 should rotate according to resolving algorithm computation;
(7) judge whether the corner that calculates target 325 spends greater than 5;
(8) spend back step S4 as corner less than 5, send to target driver element 3 if corner is spent then generated steering order greater than 5;
(9) control enclosure 31 in the target driver element 3 sends steering order control motor 322 rotations that processing unit 2 is sent according to data acquisition, drives target 325 and rotates;
(10) rotate and to judge whether to receive exit instruction after finishing, as receive then and withdraw from, carry out, the incident angle of the laser directive target 325 that total powerstation 12 sends is kept less than 5 degree always otherwise begin circulation from step S4 again.
The above; only be the embodiment among the present invention; but protection scope of the present invention is not limited thereto; anyly be familiar with the people of this technology in the disclosed technical scope of the present invention; can understand conversion or the replacement expected; all should be encompassed in of the present invention comprising within the scope, therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (10)
1. a self-adaptation target device is characterized in that, this device comprises that digital tracking measurement unit, data acquisition send processing unit and target driver element;
Digital tracking measurement unit sends processing unit with data acquisition respectively with the target driver element and is connected, having the target driver element of centerline structure feature and digital tracking measurement unit obtains image mode with long-range shooting and sets up and get in touch, have the plane projection image of centerline structure feature in the digital tracking measurement unit photographs target driver element, and the plane projection image that will have a centerline structure feature sends to data acquisition and sends processing unit; Data acquisition sends processing unit and receives, stores and handle and receive the plane projection image that has the centerline structure feature, according to the position of centerline structure feature in the plane projection image, judging target needs the size and the sense of rotation of rotation amount to send to the target driver element; After the target driver element receives that target need rotate size and Orientation information, the driven by motor target of control target driver element sends the steering order rotation that processing unit is sent by data acquisition, makes the target of target driver element aim at the laser beam that total powerstation is sent with best angle.
2. self-adaptation target device as claimed in claim 1, it is characterized in that, digital tracking measurement unit is made up of digital measuring unit and total powerstation and angle measurement tracking cell thereof, and the total powerstation both sides are fixedly connected with digital measuring unit and counterweight, makes total powerstation maintenance balance rotating and forms integrative-structure; The digital measurement data output line of digital measuring unit sends processing unit with data acquisition and links to each other; Utilize the angle measurement tracker of total powerstation to realize the target of target driver element is followed the tracks of, digital measuring unit is used for the plane projection image that long-range shooting target driver element has the centerline structure feature.
3. self-adaptation target device as claimed in claim 1 is characterized in that, data acquisition sends processing unit and comprises: data acquisition module, data processing module and data transmission blocks, wherein:
The target supporting body that data acquisition module receives, the digital tracking measurement of storage unit is sent has the plane projection image of the architectural feature of center line;
Data processing module is connected with data acquisition module, data processing module carries out pre-service and rim detection to the plane projection image data that the target supporting body has the centerline structure feature, according to the position of centerline structure feature in the plane projection image, and the plane projection image data of the target supporting body of analytic band own centre line architectural feature, according to the both sides line segment that is as the criterion with the centerline structure feature than or area than calculating the size and Orientation that the centerline structure feature departs from the plane projection picture centre, the size and Orientation that the centerline structure feature departs from the plane projection picture centre is exactly the size and Orientation that target need horizontally rotate, and the size and Orientation data that target need rotate are exported to data transmission blocks;
Data transmission blocks is connected with data processing module, and the size and Orientation data that the target that data transmission blocks is exported data processing module need rotate send to the target driver element.
4. self-adaptation target device as claimed in claim 3, it is characterized in that, the image pre-service of data processing module is that the plane projection image of taking that has centerline structure feature target supporting body is carried out elimination interference, noise and does the processing of the useful real information of geometry correction, colour correction, recovery, enhancing plane projection image hits and marks the detectability of supporting body edge and target supporting body centerline structure feature, thereby improves the reliability of feature extraction, image segmentation, coupling and identification.
5. self-adaptation target device as claimed in claim 1, it is characterized in that, the target driver element comprises: control enclosure and follower two parts, comprise data reception module and drive control module in the control enclosure, follower comprises motor base, motor, has target supporting body, magnetic support and the target of centerline structure feature, wherein:
Motor is at motor base and have between the target supporting body of centerline structure feature, and motor is fixedlyed connected with motor base, the turning axle of motor is rotationally connected with the target supporting body that has the centerline structure feature, and magnetic support is fixed on the target supporting body, and target is fixed on the magnetic support; Described data reception module is connected with drive control module, the size and Orientation information that the target that data reception module reception data acquisition transmission processing unit is sent with wireless mode need rotate, wireless signal is converted to wire signal sends to drive control module, drive control module converts the target rotation size and Orientation information of receiving to the umber of pulse of drive motor running according to the driving parameters of motor, the drive control module of control enclosure links to each other with the drive wire of the motor of follower, realizes the driving to motor; The target supporting body, magnetic support and the target that have the centerline structure feature of control follower rotate with motor, by having a centerline structure feature on the digital tracking measurement unit photographs target supporting body.
6. self-adaptation target device as claimed in claim 1, it is characterized in that, the rotation amount of described judgement target and sense of rotation are to set centerline structure feature BCGF to be arranged in target supporting body plane projection image ADHE, if centerline structure feature BCGF is k with two ends, target supporting body plane projection image ADHE left and right sides distance than AB/CD, target is aimed at the laser beam that total powerstation is sent with best angle when k equals 1, if the target θ that need rotate a certain angle makes target aim at the laser beam that total powerstation is sent with best angle when k is not equal to 1, the angle of target left rotation and right rotation is less than pi/2 θ ∈ (pi/2 during operate as normal, pi/2), θ can be by as shown in the formula calculating:
Adjust when spending when target departs from according to design, adjust the size of line segment AB/CD ratio k, make that target is in motionless state, target turns left and the target right-hand rotation greater than 5.
7. self-adaptation target device as claimed in claim 6 is characterized in that line segment AB/CD=S
ABFE/ S
CDHG=k calculates plane projection image connected region area and obtains having the two-part area ratio in the centerline structure feature BCGF left and right sides.
8. the implementation method of a self-adaptation target is characterized in that, this method comprises the steps:
Step S1: beginning, system unit are installed and are connected;
Step S2: device start also carries out initialization, makes equipment enter stable operation stage;
Step S3: data acquisition sends the data processing module control system operation beginning in the processing unit and finishes;
Step S4: the plane projection image of the band center line feature structure of digital tracking measurement unit photographs target driver element, and send these plane projection image data to data acquisition and send processing unit;
Step S5: data acquisition sends that processing unit logarithmic code measuring unit takes that the plane projection image data that the target supporting body has a centerline structure feature are gathered, the pre-service of plane projection image and plane projected image rim detection;
Step S6: with calculating the size and Orientation that target need rotate in the data processing module in the data acquisition transmission processing unit, data acquisition sends profile centering line left and right sides two parts line segment ratio or the area ratio that processing unit calculates the plane projection image that has the centerline structure feature, calculates size and sense of rotation that target is answered rotation amount;
Step S7: judge that whether the corner that calculates target is greater than 5 degree;
Step S8: return step S4 as corner less than 5 degree, send to the target driver element if corner is spent then generated steering order greater than 5;
Step S9: the controller in the target driver element sends the steering order control motor rotation that processing unit is sent according to data acquisition, drives target and rotates;
Step S10: target rotates to be finished the back and judges, as receives that exit instruction then withdraws from, and carries out otherwise begin circulation from step S4 again, makes the incident angle of the laser directive target that total powerstation sends keep spending less than 5 always.
9. the implementation method of self-adaptation target as claimed in claim 8, it is characterized in that, it is to set centerline structure feature BCGF to be arranged in target supporting body plane projection image ADHE that the rotation amount of described judgement target and sense of rotation are calculated, if centerline structure feature BCGF is k with two ends, target supporting body plane projection image ADHE left and right sides distance than AB/CD, target is aimed at the laser beam that total powerstation is sent with best angle when k equals 1, if the target θ that need rotate a certain angle makes target aim at the laser beam that total powerstation is sent with best angle when k is not equal to 1, the angle of target left rotation and right rotation is less than pi/2 θ ∈ (pi/2 during operate as normal, pi/2), θ can be by as shown in the formula calculating:
Adjust when spending when target departs from according to design, adjust the size of line segment AB/CD ratio k, make that target is in motionless state, target turns left and the target right-hand rotation greater than 5.
10. the implementation method of self-adaptation target as claimed in claim 9 is characterized in that, line segment AB/CD=S
ABFE/ S
CDHG=k calculates plane projection image connected region area and obtains having the two-part area ratio in the centerline structure feature BCGF left and right sides.
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