CN102654400A - Pseudorandom bar code applied to digital level bar code ruler - Google Patents
Pseudorandom bar code applied to digital level bar code ruler Download PDFInfo
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Abstract
The invention discloses a pseudorandom bar code applied to a digital level bar code ruler, belonging to the technical field of manufacture of instruments of surveying and mapping. The pseudorandom bar code is formed by alternatively arranging a plurality of light and shade stripes with different widths, wherein the widths and light and shade changes of the strips are modulated by a plurality of pseudorandom sequences. The strips in the bar code comprise coarse code strips for remote measurement and thin code strips for close measurement. The thin code strips are formed by alternatively arranging light and shade strips with smaller widths, and the width changes of the light strips and shade strips are respectively modulated by a pseudorandom sequence. The coarse code strips are formed by arranging light and shade strips with bigger widths, and the widths and light and shade changes of the strips are modulated by a pseudorandom sequence. The coarse code strips are regularly embedded in the fine code strips to form a complete bar code. The pseudorandom bar code is characterized in that a plurality of pseudorandom sequences are alternatively coded for modulating the widths and light and shade changes of the strips. The pseudorandom bar code has the advantages of compatibility with remote measurement and close measurement, capability of forward measurement and backward measurement, simplicity in making a staff gauge, low requirement for a hardware system, small decoding operand, and rapidness and accuracy in identification.
Description
Technical field
This technology belongs to instrument of surveying and mapping manufacturing technology field.
Background technology
The encoding and decoding principle of existing digital level bar yardstick mainly contains correlation method, phase method and geometric method.Typical case's representative of correlation method is a leica company, and its scale directly is made up of width different informal voucher line and vertical arrangement of black streaking, and the built-up sequence of different in width striped has been reacted elevation information, and the patent No. is DE0019530788C1; Typical case's representative of phase method is a TOPCON company, and its scale is made up of three kinds of sign indicating numbers, obtains elevation information through the code phase difference in the measurement code section, obtains the image ratio through reference code, and the patent No. is 93121271.5 and 01137724.0; Typical case's representative of geometric method is a Trimble company, and its scale adopts the quarter-phase code structure, and the patent No. is DE0019826871C1.
Because the intellectual property protection of external each major company and the monopolization of product, domestic acquisition is a kind of, and to have the digital level method of independent intellectual property right extremely urgent.The domestic in recent years research to this respect is a lot, and Mr.'s Yang Junzhi the wide Sine Modulated coding of equidistant code sign indicating number is wherein more typically arranged, and the patent No. is 03153286.1; Mr.'s Ye Xiaoming is wide than the row sign indicating number, and the patent No. is 200410061193.8.These methods are practicable in theory, but in the measuring process of reality, a lot of objectively effects limit the acquisition of theoretical result, can't realize commercialization.
Summary of the invention
The object of the invention is the method into digital level and a kind of yardstick of electronic theodolite scale design and encoding and decoding thereof; Having compatible far and near distance measures; Can forward reversely measure simultaneously, scale is made simple, to hardware system require low; The decoding operation amount is little, discerns advantage fast and accurately.
The pseudorandom bar code that is applied to digital level bar yardstick of the present invention, its bar code alternately is made up of the bright fringe and the dark fringe of multiple width, and the width of striped and light and shade variation are modulated by a plurality of pseudo-random sequences.The striped that is comprising two kinds of meanings in the bar code, the thin code-bar line that promptly alternately constitutes by narrower bright fringe of width and dark fringe, the change width of bright fringe and dark fringe is modulated by a pseudo-random sequence respectively; By the thick code-bar line that the bright fringe and the dark fringe of the relative broad of width constitutes, the width of striped and light and shade change and modulated by a pseudo-random sequence.Just constituted complete bar code in the middle of thick code-bar line embedded thin code-bar line regularly, it is characterized in that a plurality of pseudo-random sequence interleaved codes, the width of striped and light and shade have been changed all modulate.
The aforesaid pseudorandom bar code that is applied to digital level bar yardstick, its design philosophy are characterised in that measurement designs bar code respectively to far and near distance, merge then.In the actual application of digital level, when measuring distance was nearer, field range was less, and this just requires the bar code chi could confirm the position of this section bar code on whole scale will comprising abundant code element information on the very short length; When measuring distance was far away, though field range can not become the limiting factor of bar code design, because the resolution of CCD is limited, this just required the width of striped to want enough wide could the resolution out.Characteristic of the present invention just is that measurement designs bar code respectively to far and near distance, merges then to constitute complete bar code.The present invention has successfully solved three problems that this design philosophy faced: the design of thin sign indicating number, the design of thick sign indicating number, the fusion of thin sign indicating number and thick sign indicating number.
First problem that the present invention solves is the design of thin sign indicating number.Thin sign indicating number design at first will be selected code element, and code element is the carrier of information, is the carrier of modulation rule.The utilizable information of code element has shading value and width; For brightness information; The half-tone information that wants accurately to discern code element is difficulty relatively; Hardware cost height and False Rate are high, so generally elect the color of code element as dichromatism (such as black and white), the present invention is called bright fringe and dark fringe to the striped of dichromatism respectively; The selection of symbol width has directly and gets in touch with the modulation rule, and now, the symbol design method of comparative maturity mainly contains two kinds: i.e. reference code method and duty ratio modulation method, and these two kinds of methods all have a shortcoming, and promptly the utilization factor of bar code is not high.Low mainly the showing in the identifying of bar code of utilization factor of the bar code that employing reference code method designs; The effect of reference code is just in order to extract the code element that is used for measuring; Reference code itself has no contribution to the measurement of the discrepancy in elevation; But it occupies the space on the scale again, the difficulty when this has increased close-in measurement.Adopt the bar code of duty ratio modulation method design to have such shortcoming equally; In the identifying of bar code; In order to obtain duty cycle information; Must accurately know shared number of pixels and the shared number of pixels of dark fringe of bright fringe in this code element, that is to say and identify two stripeds but the information of having to a code element.The present invention has overcome the low shortcoming of utilization factor that reference code and dutycycle design are brought effectively; Directly separate bright fringe and dark fringe; Carry out the width modulated of pseudo-random sequence respectively; Modulation is fused to together after accomplishing again, makes the utilization factor of striped reach absolutely, and can the reverse measurement simultaneously of forward.
Second problem that the present invention solves is the design of thick sign indicating number.The present invention directly carries out the light and shade modulation to striped earlier with pseudo-random sequence, and then the width of striped is done the thick sign indicating number of adjustment formation among a small circle.Why select the light and shade modulation; Be that this moment is because the restriction of CCD resolution hopes that the width of striped is wide more good more because thick sign indicating number is to be used for telemeasurement; If this time standby width modulated, measuring distance just receives that the narrower striped of width limits in the thick sign indicating number so.Modulation forms after thick yard through light and shade with pseudo-random sequence to select fixing width of fringe for use; When identification; The decision rule of thick sign indicating number is in measurement image, to search the wide striped that satisfies spaced relationship; Owing to some striped of thin yard also is wide being arranged on the scale, this just might become thick sign indicating number to those thin sign indicating number differentiations and cause makeing mistakes when close-in measurement.Ways of addressing this issue of the present invention is that slightly the width of fringe of sign indicating number is done little adjustment consciously, lets the width of thick code-bar line that difference is arranged slightly, has solved the erroneous judgement problem after the light and shade modulation of accomplishing thick code-bar line.
The 3rd problem that the present invention solves is the fusion of thin sign indicating number and thick sign indicating number.The present invention has fully taken into account in the process of actual measurement, when measuring distance is far away, because the restriction of CCD resolution; Even the thick code-bar line of width than broad arranged in the scale; If but the width of the thin code-bar line adjacent with thick code-bar line is narrow, pass through Flame Image Process so after, this thin code-bar line shared pixel on CCD is very few; And then make this thin code-bar line striped adjacent directly be treated as the thick code-bar line of a mistake with the left and right sides, can't carry out the identification of thick code-bar line at last.Ways of addressing this issue of the present invention is that thick code-bar line is embedded in after the thin code-bar line of wider width, so just can realize the measurement of farther distance.As stated, a thick code-bar line has only a kind of shading value, promptly or be bright fringe; It is dark fringe; Before thick code-bar line embedded thin code-bar line, the distribution of thin code-bar line had been to arrange by the light and shade sequence alternate, then when thick code-bar line embeds; It is identical and become another wideer striped of width to be certain to shading value with an adjacent thin code-bar line, has so just destroyed the queueing discipline of bar code.Ways of addressing this issue of the present invention is the striped that thin code-bar line width is identical and shading value is also identical that after the thick code-bar line that embeds, increases a width and this thick code-bar line front extraly.The increase of this striped has equally also upset putting in order of thin code-bar line; But when thin sign indicating number is measured; If comprise thick sign indicating number in the measurement range, then should can be differentiated by thick sign indicating number, and then cast out striped behind this thick sign indicating number and just can reduce thin yard having put in order.In the telescopiny of thick sign indicating number, also have a problem in addition, that is exactly the problem of placing what thin sign indicating numbers between two thick code-bar lines.Design philosophy of the present invention requires between two thick sign indicating numbers, to comprise a sign indicating number speech of thin sign indicating number at least, and the least unit of just measuring promptly can be located the minimum thin sign indicating number number of the position of this yard section on whole scale.
The present invention has the following advantages and positive achievement:
1, is applied to the pseudorandom bar code of digital level bar yardstick, it is characterized in that a plurality of pseudo-random sequence interleaved codes, the width and the light and shade variation of striped are all modulated.The design feature of bar code is far and near distance to be measured design bar code respectively, merges then and forms complete bar code.In the design of code element, characteristic of the present invention is to separate the modulation of carrying out pseudo-random sequence to bright fringe and dark fringe, and then is arranged alternately in together, has brought up to the limit to the utilization factor of striped.In the fusion process of thick sign indicating number and thin sign indicating number, characteristic of the present invention is will slightly pile up wittingly after the thin sign indicating number of broad, adopts the method for thin yard of extra increase to solve thick sign indicating number and carefully effective combination of sign indicating number then, and this method has enlarged the scope of telemeasurement; The present invention is designed to different widths to the thick code-bar line after the light and shade modulation in addition, efficiently solves when close-in measurement the problem of thin sign indicating number erroneous judgement for thick sign indicating number.
2, be different from preceding several method; The present technique method is a plurality of pseudo-random sequence interleaved codes; The width of striped and light and shade changed all modulate, thisly increased the quantity of information in limited scale width in the two-dimensional modulation that realizes on the one dimension direction, the striped through different pseudo-random sequences modulation is staggered in together; Make when close-in measurement; Except the sign indicating number speech that utilizes each pseudo-random sequence, can also utilize the phase differential between the different pseudo-random sequences to obtain elevation information, thereby when having reduced close-in measurement to the requirement of field range.Owing to the thick sign indicating number that is embedded with broad in the of the present invention yardstick; And the both sides of each thick code-bar line all are the thin code-bar line of width than broad, make when telemeasurement, can overcome because the bar-code identification that the restriction of the increase of image ratio and CCD resolution brings is difficult.
3, be different from preceding several method; In the design of thick sign indicating number; The present invention directly carries out the light and shade modulation to striped earlier with pseudo-random sequence; And then the width of striped done among a small circle adjustment, and be designed to different widths to the thick code-bar line after the light and shade modulation, efficiently solve when close-in measurement the problem of thin sign indicating number erroneous judgement for thick sign indicating number.
4, be different from preceding several method, in the fusion of thin sign indicating number and thick sign indicating number, the present invention fully takes into account in the process of actual measurement; When measuring distance is far away; Since the restriction of CCD resolution, even the thick code-bar line of width than broad arranged in the scale, if but the thin code-bar line width adjacent with thick code-bar line is narrow; After then passing through image, the striped that this thin code-bar line is adjacent with the left and right sides directly is treated as a striped.Ways of addressing this issue of the present invention is that thick code-bar line is embedded in after the thin code-bar line of width than broad, so just can realize the measurement of farther distance.The present invention increases the striped that thin code-bar line width is identical and shading value is also identical of a width and this thick code-bar line front extraly after the thick code-bar line that embeds.The present invention between two thick sign indicating numbers, will comprise a sign indicating number speech of thin sign indicating number at least when merging two kinds of bar codes, the least unit of just measuring promptly can be located the minimum thin sign indicating number number of the position of this yard section on whole scale.
5, the present invention realize the technological core of bar code decoding be in the process of decoding directly by certain striped with near striped between shading value and the relative change information identification code speech of width, and then acquisition sight line height and stadia reading.This relative demodulation method has the advantage of correlation method, directly utilizes the mutual relationship between the interior bar code of measurement range to discern, and has avoided the huge two-dimensional correlation operand of correlation method simultaneously again; Coding/decoding method of the present invention also has the advantage of geometric method, utilizes the sign indicating number speech to constitute a least unit of measuring, make like this under scale has the situation of partial occlusion, also can measure, and has avoided the shortcoming that the geometric method scale is made difficulty simultaneously again.In addition since the design of bar code of the present invention itself when just having solved far and near the measurement well since image than and the contradiction brought of CCD resolution factor, this has reduced the difficulty of instruments design manufacturing greatly.
6, decoding method of the present invention is applied in the great advantage of digital level and is: when having solved far and near measurement the in the measurement of the level fully since image than and the contradiction brought of CCD resolution factor; Have compatible far and near distance and measure, can forward is reverse measure simultaneously, scale is made simple, to hardware system require lowly, the decoding operation amount is little, discerns advantage fast and accurately.These advantages also are applicable to electronic theodolite.
Description of drawings
Fig. 1 is the bar-code structure synoptic diagram of one embodiment of the invention.
Fig. 2 is the present invention's a kind of decoding synoptic diagram of situation wherein when close-in measurement.
Fig. 3 is the decoding synoptic diagram of the present invention's another kind of situation when close-in measurement.
Fig. 4 is the decoding synoptic diagram of the present invention when telemeasurement.
Fig. 5 is a digital level measuring principle synoptic diagram.
Embodiment
Below in conjunction with accompanying drawing and embodiment principle of work of the present invention is further described.
1, striped: striped is the carrier of pseudo-random sequence, and it has two basic characteristics, i.e. shading value and width.Only utilized the striped of two kinds of brightness among the present invention, i.e. bright fringe and dark fringe, the bright of present embodiment is white; Dark for black, but light and shade refers to the contrast connotation of optical brightness, is not limited to white and black; Also comprise the discrepant color configuration of other brightness, such as black and yellow etc.With the width of pseudo-random sequence modulation stripe the time, any width combination can be reacted the rule of pseudo-random sequence, and embodiments of the invention have the striped of four kinds of width, are respectively 4cm, 3cm, 1.2cm, 0.6cm.Based on the needs of actual conditions, also can select the striped combination of other width.In the accompanying drawing 1; Comprised three stripeds that pseudo-random sequence modulates out: (1), the binary bits of red trumpet arranged in the bottom of figure, these are exactly a pseudo-random sequence by 1 and 0 binary bit stream formed, directly over these sequences, modulate the striped of coming out exactly; Visible among the figure; This sequence modulation be bright fringe, wherein width 0.6cm represents bit 0, width 1.2cm represents bit 1; The binary bits that (2), blue trumpet is arranged on figure; These also are pseudo-random sequences by 1 and 0 binary bit stream formed; It under these sequences the striped that modulation is come out; This sequence modulation be dark fringe, wherein width 0.6cm represents bit 0, width 1.2cm represents bit 1; The binary bits that (3), the large size of black is arranged on figure; These also are pseudo-random sequences by 1 and 0 binary bit stream formed; It under these sequences the striped that modulation is come out; Wherein bright fringe is represented bit 1, and dark fringe is represented bit 0, and their width is 4cm and 3cm alternate.In above-mentioned, preceding two kinds of stripeds are thin sign indicating numbers of present embodiment, and the third striped is thick sign indicating number; Can find out that the width of thin sign indicating number and thick sign indicating number has tangible difference, thin sign indicating number is made up of the striped of two pseudo-random sequence modulation, and thick sign indicating number is made up of the striped of a pseudo-random sequence modulation; Carefully yard modulation is the width of striped, and what thick sign indicating number was modulated is the light and shade variation of striped; The both sides of each thick code-bar line must be the thin code-bar line of width than broad; At least the thin code-bar line number (the sign indicating number entry line number of thin sign indicating number is 7 in the present embodiment) that comprises a sign indicating number speech between per two thick code-bar lines.
2, pseudo-random sequence: pseudo-random sequence is that to satisfy the pseudorandom rule be similar noise but digital bit stream clocklike; Bit stream has binary bit stream and multi-system bit stream; Embodiments of the invention are binary m pseudo-random sequences, and wherein the thin sign indicating number of modulation bright fringe is one 7 grades m pseudo-random sequence; The thin sign indicating number of modulation dark fringe be initial bits and the m pseudo-random sequence of 7 grades of last different another ones; The thick sign indicating number of modulation be one 5 grades m pseudo-random sequence.Present embodiment is the example of the staggered modulation of three pseudo-random sequences; Also can select the staggered modulation of two pseudo-random sequences or the pseudo-random sequence more than four for use; In the selection of modulation sequence, also can select the other forms of digital bit stream of similar pseudo-random sequence rule for use in addition.
3, bar code scaleplate: the thick sign indicating number that will generate is embedded in the thin sign indicating number and just constitutes whole yardstick, and the concrete rule of present embodiment is:
(1), the thin sign indicating number that has 7 stripeds between per two thick sign indicating numbers at least.Why being 7 is because carefully the pseudo-random sequence of sign indicating number is 7 grades, if only consider the bright fringe or the dark fringe of thin sign indicating number, the information ability position of this yard speech on whole scale, unique location of 7 stripeds will be arranged at least; If consider bright fringe and dark fringe simultaneously, because they are staggered in together, utilize the phase differential between them, only need 3 bright fringes and 4 dark fringes or 4 bright fringes and 3 dark fringes and just can locate the position of this yard section on whole scale.
(2), to be embedded in thin sign indicating number width be after the dark fringe of 1.2cm to the bright fringe of thick sign indicating number; Owing to can being superimposed, the thick sign indicating number bright fringe that embeds and the bright fringe of thin sign indicating number originally destroy whole coding rule, so the dark fringe that extra width of increase is 1.2cm after the thick sign indicating number bright fringe that embeds; Slightly the embedding of the dark fringe of sign indicating number rule and bright fringe is the same.Embed thick code-bar line after why will being chosen in the striped that thin sign indicating number width is 1.2cm; Be because when telemeasurement; Even the thick code-bar line of width than broad arranged in the scale; If but the width of the thin code-bar line adjacent with thick code-bar line is narrow, then pass through Flame Image Process after, the striped that this thin code-bar line is adjacent with the left and right sides directly is treated as a striped.
4, decoding: shown in accompanying drawing 2, accompanying drawing 3 and accompanying drawing 4.
Bigness scale: bigness scale is exactly the identifying of bar code, is promptly finding out the sign indicating number speech that can measure within sweep of the eye.The identification first step of present embodiment is that the signal that CCD collects is carried out filtering and rim detection; Then image is carried out binaryzation; Search the sign indicating number speech that to measure in the image after binaryzation; Consider different field ranges, divide three kinds of situation that the method for decoding is described below: first kind of situation is shown in accompanying drawing 2, and the coding/decoding method that satisfies this field range situation is to search between adjacent 7 stripeds of image whether the striped combination of satisfying thin sign indicating number proportionate relationship is arranged; The striped that promptly has only two kinds of width, and width becomes 2 times of relations.Concrete operation steps is that first striped from image begins; Judge that whether this striped satisfies thin sign indicating number in close-in measurement scope intra-striate shared number of pixels variation range on CCD; If satisfy; Then find out from ensuing 7 stripeds of this clause, judge whether integral body satisfies proportionate relationship.Search after complete the image,, then necessarily can search thin sign indicating number if measuring condition meets.Second kind of situation is shown in accompanying drawing 3; The coding/decoding method that satisfies this field range situation is to search between adjacent 9 stripeds of image whether the striped combination of satisfying the thick sign indicating number and the proportionate relationship of thin sign indicating number is arranged; The combination of two kinds of situation is promptly arranged, be respectively 3: 1.2: 0.6 and 4: 1.2: 0.6.Concrete operation steps is that first striped from image begins; Judge that whether this striped satisfies thick sign indicating number in close-in measurement scope intra-striate shared number of pixels variation range on CCD; If satisfy; Be foundation then, find out 9 adjacent stripeds, judge whether integral body satisfies proportionate relationship with this striped.Search after complete the image,, then necessarily can search thin sign indicating number if measuring condition meets.The third situation is shown in accompanying drawing 4, and this situation need be decoded through thick sign indicating number, promptly from image, finds out 5 thick sign indicating numbers that satisfy relative position relation and comes.Concrete operation steps is first striped from image; Judge that whether this striped satisfies thick sign indicating number in telemeasurement scope intra-striate shared number of pixels variation range on CCD, if satisfy, then earlier calculates the image ratio according to the shared number of pixels of this striped; Again with this image than serving as according to extrapolate the Position Approximate that next thick sign indicating number occurs in image; Judge in image this position then, if judge successfully then carry out the judgement of next thick sign indicating number, by that analogy; When judging 5 thick sign indicating numbers that satisfy condition, also just accomplished the identification of bar code.Search after complete the image,, then necessarily can search thick sign indicating number if measuring condition meets.Accomplish after the identification work, directly can interpretation go out of the height completion bigness scale of the starting point of this yard speech from the scale bottom according to the sign indicating number speech that searches.
Accurate measurement: the process of accurate measurement is exactly the number of pixels of pixel between the starting point of the sign indicating number speech that identifies according to silk in the electronics, combines image again than just obtaining the high accurate measurement value of sight line.In the measuring process of reality, can utilize the precision of measuring that a plurality of yards speech are made even all or improving measurement with the mode of least-squares refinement.
Because the developed width of sign indicating number speech all is a known quantity, just can calculate the sighting distance value according to the similar triangle theory shown in accompanying drawing 5.
Claims (7)
1. be applied to the pseudorandom bar code of digital level bar yardstick, its bar code alternately is made up of the bright fringe and the dark fringe of multiple width, and the width of striped and light and shade variation are modulated by a plurality of pseudo-random sequences.
2. the thick code-bar line that bar code of the present invention comprises the thin code-bar line that alternately is made up of narrower bright fringe of width and dark fringe and is made up of the bright fringe and the dark fringe of wider width; The bright fringe of thin code-bar line and the change width of dark fringe are modulated by a pseudo-random sequence respectively, and the width of thick code-bar line and light and shade variation are modulated by a pseudo-random sequence.
3. characteristic of the present invention has overcome the low shortcoming of utilization factor that reference code or dutycycle design are brought effectively; Directly separate bright fringe and dark fringe; Carry out the width modulated of pseudo-random sequence respectively; Modulation is fused to together after accomplishing again, makes the utilization factor of striped reach absolutely, and can the reverse measurement simultaneously of forward.
4. the present invention directly carries out the light and shade modulation to striped earlier with pseudo-random sequence, and then the width of striped is done the thick sign indicating number of adjustment formation among a small circle.
5. the present invention is embedded in thick code-bar line after the thin code-bar line of width than broad, and increases a width and this striped that thin code-bar line is identical and shading value is also identical extraly; Between two thick sign indicating numbers, to comprise a sign indicating number speech of thin sign indicating number at least.
6. embodiments of the invention are selected the striped of four kinds of width for use, are respectively 4cm, 3cm, 1.2cm, 0.6cm, but design philosophy is not limited to these width, according to the needs of actual conditions, also can select the striped combination of other width.
7. present embodiment is the example of the staggered modulation of three pseudo-random sequences; Also can select the staggered modulation of two pseudo-random sequences or the pseudo-random sequence more than four for use; In the selection of modulation sequence, also can select the other forms of digital bit stream of similar pseudo-random sequence rule for use in addition.
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