CN103234457A - Digital imaging-based multi-beam displacement measurement method - Google Patents
Digital imaging-based multi-beam displacement measurement method Download PDFInfo
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- CN103234457A CN103234457A CN2013101429861A CN201310142986A CN103234457A CN 103234457 A CN103234457 A CN 103234457A CN 2013101429861 A CN2013101429861 A CN 2013101429861A CN 201310142986 A CN201310142986 A CN 201310142986A CN 103234457 A CN103234457 A CN 103234457A
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- digital imagery
- measured target
- target body
- light beam
- displacement
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Abstract
The invention relates to a digital imaging-based multi-beam displacement measurement method. In the method, a fixed digital imaging unit and a movable measured target body are involved; a laser transmitter is arranged on the measured target body; and the linear displacement direction of the measured target body is parallel to the plane of a digital imaging unit sensor. The method comprises the following steps of drawing a straight line on the surface of the digital imaging unit, wherein the straight line is parallel to the displacement direction of the measured target body; searching three points o1, o2 and o3 in the straight line along the plane of the digital imaging unit sensor, wherein the point o1 and the point o2 are respectively positioned at the two ends of the digital imaging unit sensor, the distance between the point o1 and the point o2 is the length L of the digital imaging unit sensor, the point o3 is positioned in the extension straight line of the point o1 and the point o2, and the distance between the point o3 and the point o2 is L; when the measured target body moves in the direction parallel with the straight line, transmitting light beams with different codes in the direction of the fixed digital imaging unit at different angles by using the laser transmitter of the measured target body; and determining the displacement of the measured target body by using the digital imaging unit according to the light beams with different codes projected at the position of the digital imaging unit. The digital imaging-based multi-beam displacement measurement method is high in measurement precision.
Description
Technical field
The present invention relates to the object straight-line displacement and measure, particularly relate to the multiple beam displacement measurement method based on digital imagery.
Technical background
Accurately obtain the displacement data of object, civilian to the modern times, industry, even every field such as military affairs has vital realistic meaning.CCD or cmos digital imagery have plurality of advantages such as size is little, in light weight, power consumption is little, geometry is stable, the photometry amount is accurate, are particularly suitable for the position of object and the measurement of displacement thereof.Yet CCD or cmos dimensioned area are less usually, are difficult to directly satisfy the bigger measurement occasion of displacement.The scheme that reduces the displacement measurement precision has been adopted in classical CCD or the measurement of cmos displacement, exchanges bigger measurement range for.
Summary of the invention
The present invention seeks to overcome the problem that high precision and wide range can not get both in the prior art, the multiple beam displacement measurement method of the high imageing sensor of a kind of measuring accuracy is provided.
The technical scheme that technical solution problem of the present invention adopts is: based on the multiple beam displacement measurement method of digital imagery, it is characterized in that: comprise fixing digital imagery unit and the measured target body of motion, generating laser is installed, measured target body straight-line displacement direction and digital imagery cell sensor plane parallel on the measured target body; Make a straight line at the digital imagery cell surface, and parallel with the measured target body sense of displacement; Along seeking three some o on the digital imagery cell sensor plane and straight line
1, o
2And o
3Wherein, some o
1And o
2Lay respectively at digital imagery cell sensor two ends; Point o
1With an o
2Distance be the length L of digital imagery cell sensor; Point o
3Be positioned at an o
1With an o
2Extend on the straight line, and with an o
2Distance be L; When measured target body is parallel to the rectilinear direction motion, the generating laser of measured target body sends the light beam of band different coding to fixing digital imagery cell orientation with different angles, the measured target body displacement is determined according to the different coding light beam that is incident upon the position of digital imagery unit in the digital imagery unit;
The light beam that described generating laser sends the band different coding with different angles to fixing digital imagery cell orientation is three beams, and light beam is corresponding in the displacement of the coordinate in incident point, digital imagery unit and measured target body; When first light beam projects an o
2The time, corresponding measured target displacement body is zero, and coordinate is for also being zero, if first light beam is that x(0≤x≤L), then the displacement of measured target body is x in the incident point of digital imagery cell surface along the coordinate on the rectilinear direction; Described first light beam in the incident point of digital imagery unit from o
2Move to o
1The time, the displacement of measured target body is L, at this moment, second light beam drops on an o just in the incident point of digital imagery unit
2On; When measured target displacement body during greater than L, first light beam will drop on outside the digital imagery unit area, no longer participate in displacement measurement; Obtaining second light beam is x in the incident point of digital imagery unit along the coordinate on the rectilinear direction, and then the displacement of measured target body is L+x; When described first light beam, second light beam dropped on outside the digital imagery unit area, the displacement of measured target body was greater than 2*L, and the 3rd light beam will participate in displacement measurement this moment; Obtaining the 3rd light beam is x in the incident point of digital imagery unit along the coordinate on the rectilinear direction, and then the displacement of measured target body is 2*L+x.
The light beam that the generating laser of described measured target body sends the band different coding with different angles to fixing digital imagery cell orientation is that the laser instrument by different coding sends with different angles.
The light beam that the generating laser of described measured target body sends the band different coding with different angles to fixing digital imagery cell orientation is to be sent with the different angles different coding by beam splitting by same generating laser.
Advantage of the present invention is: because the generating laser of measured target body sends band different coding multi-beam simultaneously to fixing digital imagery cell orientation, the digital imagery unit is with the different coding multiple light beams to be incident upon the position of digital imagery unit according to sending, and determines the measured target body displacement.Make on the limited digital imagery unit of size, realized being multiple times than the measurement range of digital imagery unit size, and measuring accuracy is not lowered.
Description of drawings
The invention will be further described below in conjunction with the embodiment accompanying drawing:
Fig. 1 is the structural representation of the embodiment of the invention 1;
Fig. 2 is the structural representation of the embodiment of the invention 2.
Among the figure, 1, the digital imagery unit; 2, measured target body; 3, first light beam; 4, second light beam; 5, the 3rd light beam; 6, straight line.
Embodiment
As shown in Figure 1, the measured target body 2 that comprises fixing digital imagery unit 1 and motion, on the measured target body 2 generating laser is installed, in the diagram, three laser instruments are installed on the measured target body 2, be not limited to three laser instruments in actual the use, first light beam 3, second light beam 4, the 3rd light beam 5 are respectively three laser instruments or beam splitting arrangement sends.Parallel and digital imagery unit 1 sensor plane of measured target body 2 straight-line displacement directions; Make a straight line 6 on 1 surface, digital imagery unit, and parallel with the measured target body sense of displacement; Along seeking three some o on the digital imagery unit 1 sensor plane straight line 6
1, o
2And o
3Wherein, some o
1And o
2Lay respectively at 1 sensor two ends, digital imagery unit; Point o
1With an o
2Distance be the length L of digital imagery unit 1 sensor; Point o
3Be positioned at an o
1With an o
2Extend on the straight line 6, and with an o
2Distance be L; When measured target body 2 is parallel to the motion of straight line 6 directions, the generating laser of measured target body 2 sends band different coding three-beam simultaneously to fixing digital imagery unit 1 direction, digital imagery unit 1 is with the different coding light beam to be incident upon the position of digital imagery unit 1 according to sending, and determines measured target body 2 displacements.
For structure shown in Figure 1, when measured target body 2 is moved along straight line 6 directions, first light beam 3, second light beam 4, the 3rd light beam 5 will be followed mobile together.Light beam is corresponding in the displacement of the coordinate in 1 incident point, digital imagery unit and measured target body.If first light beam 3 projects an o
2The time, corresponding measured target displacement body is zero, and coordinate is for also being zero.Because measured target body direction of motion and digital imagery unit 1 plane parallel, if first light beam 3 is x in the incident point on 1 surface, digital imagery unit along the coordinate on straight line 6 directions, then the displacement of measured target body 2 is x.
If first light beam 3 in the incident point of digital imagery unit 1 from o
2Move to o
1The time, illustrate that the displacement of measured target body 2 is L just, at this moment, second light beam 4 drops on an o just in the incident point of digital imagery unit 1
2On.When measured target displacement body during greater than L, first light beam 3 will drop on outside 1 zone, digital imagery unit, no longer participate in displacement measurement.Obtaining second light beam 4 is x in the incident point of digital imagery unit 1 along the coordinate on straight line 6 directions, and then the displacement of measured target body 2 is L+x.
When first light beam, 3, the second light beams 4 all dropped on outside 1 zone, digital imagery unit, the displacement of measured target body was greater than 2*L.The 3rd light beam 5 will participate in displacement measurement this moment.Obtaining the 3rd light beam 5 is x in the incident point of digital imagery unit 1 along the coordinate on straight line 6 directions, and then the displacement of measured target body 2 is 2*L+x.
When the 3rd light beam 5 also is o in the incident point of digital imagery unit 1
1The time, but having reached maximum location, measured target body moves.For installing under three laser condition on the measured target body shown in Figure 1, the testing range of system's displacement is 3*L.
As shown in Figure 2, the measured target body 2 that comprises fixing digital imagery unit 1 and motion, on the measured target body 2 generating laser is installed, in the diagram, a generating laser is installed on the measured target body 2, a generating laser is divided into three beams by beam splitter, and by encoder encodes, first light beam 3, second light beam 4, the 3rd light beam 5 send through beam splitting arrangement respectively three-beam respectively.Parallel and digital imagery unit 1 sensor plane of measured target body 2 straight-line displacement directions; Make a straight line 6 on 1 surface, digital imagery unit, and parallel with the measured target body sense of displacement; Along seeking three some o on the digital imagery unit 1 sensor plane straight line 6
1, o
2And o
3Wherein, some o
1And o
2Lay respectively at 1 sensor two ends, digital imagery unit; Point o
1With an o
2Distance be the length L of digital imagery unit 1 sensor; Point o
3Be positioned at an o
1With an o
2Extend on the straight line 6, and with an o
2Distance be L; When measured target body 2 is parallel to the motion of straight line 6 directions, the generating laser of measured target body 2 sends band different coding three-beam simultaneously to fixing digital imagery unit 1 direction, digital imagery unit 1 is with the different coding light beam to be incident upon the position of digital imagery unit 1 according to sending, and determines measured target body 2 displacements.
According to above-mentioned principle, when installing under the n laser condition on the measured target body, the testing range of system's displacement is n*L.
Claims (3)
1. based on the multiple beam displacement measurement method of digital imagery, it is characterized in that: the measured target body (2) that comprises fixing digital imagery unit (1) and motion, measured target body (2) goes up installs generating laser, and measured target body (2) straight-line displacement direction is parallel with digital imagery unit (1) sensor plane; Make a straight line (6) on digital imagery unit (1) surface, and parallel with the measured target body sense of displacement; Along seeking three some o on digital imagery unit (1) the sensor plane straight line
1, o
2And o
3Wherein, some o
1And o
2Lay respectively at sensor two ends, digital imagery unit (1); Point o
1With an o
2Distance be the length L of digital imagery unit (1) sensor; Point o
3Be positioned at an o
1With an o
2Extend on the straight line (6), and with an o
2Distance be L; When measured target body (2) is parallel to the motion of straight line (6) direction, the generating laser of measured target body (2) sends the light beam of band different coding to fixing digital imagery unit (1) direction with different angles, measured target body (2) displacement is determined according to the different coding light beam that is incident upon the position of digital imagery unit (1) in digital imagery unit (1);
The light beam that described generating laser sends the band different coding with different angles to fixing digital imagery unit (1) direction is three beams, and light beam is corresponding in the displacement of the coordinate in incident point, digital imagery unit (1) and measured target body; When first light beam (3) projects an o
2The time, corresponding measured target displacement body is zero, and coordinate is for also being zero, if first light beam (3) is that x(0≤x≤L), then the displacement of measured target body (2) is x in the incident point on digital imagery unit (1) surface along the coordinate on straight line (6) direction; Described first light beam (3) in the incident point of digital imagery unit (1) from o
2Move to o
1The time, the displacement of measured target body (2) is L, at this moment, second light beam (4) drops on an o just in the incident point of digital imagery unit (1)
2On; When measured target displacement body during greater than L, first light beam (3) will drop on outside the zone, digital imagery unit (1), no longer participate in displacement measurement; Obtaining second light beam (4) is x in the incident point of digital imagery unit (1) along the coordinate on straight line (6) direction, and then the displacement of measured target body (2) is L+x; When described first light beam (3), second light beam (4) dropped on outside the zone, digital imagery unit (1), the displacement of measured target body was greater than 2*L, and the 3rd light beam this moment (5) will participate in displacement measurement; Obtaining the 3rd light beam (5) is x in the incident point of digital imagery unit (1) along the coordinate on straight line (6) direction, and then the displacement of measured target body (2) is 2*L+x.
2. the multiple beam displacement measurement method based on digital imagery according to claim 1 is characterized in that: the light beam that the generating laser of described measured target body (2) sends the band different coding with different angles to fixing digital imagery unit (1) direction is that the laser instrument by different coding sends with different angles.
3. the multiple beam displacement measurement method based on digital imagery according to claim 1 is characterized in that: the light beam that the generating laser of described measured target body (2) sends the band different coding with different angles to fixing digital imagery unit (1) direction is to be sent with the different angles different coding by beam splitting by same generating laser.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310142986.1A CN103234457B (en) | 2013-04-23 | 2013-04-23 | Based on the multi-beam displacement measurement method of digital imagery |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310142986.1A CN103234457B (en) | 2013-04-23 | 2013-04-23 | Based on the multi-beam displacement measurement method of digital imagery |
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| CN103234457A true CN103234457A (en) | 2013-08-07 |
| CN103234457B CN103234457B (en) | 2015-10-28 |
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| CN201310142986.1A Expired - Fee Related CN103234457B (en) | 2013-04-23 | 2013-04-23 | Based on the multi-beam displacement measurement method of digital imagery |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9245916B2 (en) | 2013-07-09 | 2016-01-26 | Rememdia LC | Optical positioning sensor |
| EP3040676A1 (en) * | 2014-12-31 | 2016-07-06 | Rememdia LC | Position sensor |
| CN110632927A (en) * | 2019-09-24 | 2019-12-31 | 李宏达 | Low-cost high accuracy three-dimensional positioning AGV navigation head based on laser positioning |
| US10677583B2 (en) | 2015-04-17 | 2020-06-09 | Rememdia LC | Strain sensor |
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|---|---|---|---|---|
| CN1651855A (en) * | 2005-02-06 | 2005-08-10 | 重庆大学 | 2-D, large range laser deflection / displacement measuring method and apparatus |
| US20050258345A1 (en) * | 2004-05-21 | 2005-11-24 | Silicon Light Machines Corporation | Optical position sensing device including interlaced groups of photosensitive elements |
| US20110181865A1 (en) * | 2010-01-22 | 2011-07-28 | Canon Kabushiki Kaisha | Displacement measuring apparatus and velocity measuring apparatus which measure displacement amount of moving object |
| CN102798347A (en) * | 2012-08-28 | 2012-11-28 | 上海金玺实验室有限公司 | Measurement method of displacement and speed |
-
2013
- 2013-04-23 CN CN201310142986.1A patent/CN103234457B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050258345A1 (en) * | 2004-05-21 | 2005-11-24 | Silicon Light Machines Corporation | Optical position sensing device including interlaced groups of photosensitive elements |
| CN1651855A (en) * | 2005-02-06 | 2005-08-10 | 重庆大学 | 2-D, large range laser deflection / displacement measuring method and apparatus |
| US20110181865A1 (en) * | 2010-01-22 | 2011-07-28 | Canon Kabushiki Kaisha | Displacement measuring apparatus and velocity measuring apparatus which measure displacement amount of moving object |
| CN102798347A (en) * | 2012-08-28 | 2012-11-28 | 上海金玺实验室有限公司 | Measurement method of displacement and speed |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9245916B2 (en) | 2013-07-09 | 2016-01-26 | Rememdia LC | Optical positioning sensor |
| US9651365B2 (en) | 2013-07-09 | 2017-05-16 | Rememdia LC | Optical positioning sensor |
| US9874433B2 (en) | 2013-07-09 | 2018-01-23 | Rememdia LC | Optical positioning sensor |
| US10690479B2 (en) | 2013-07-09 | 2020-06-23 | Rememdia LLC | Optical positioning sensor |
| EP3040676A1 (en) * | 2014-12-31 | 2016-07-06 | Rememdia LC | Position sensor |
| EP3343168A1 (en) * | 2014-12-31 | 2018-07-04 | Rememdia LC | Position sensor and corresponding sensing method |
| EP3696494A1 (en) * | 2014-12-31 | 2020-08-19 | Rememdia LC | Position sensor and corresponding sensing method |
| US10677583B2 (en) | 2015-04-17 | 2020-06-09 | Rememdia LC | Strain sensor |
| CN110632927A (en) * | 2019-09-24 | 2019-12-31 | 李宏达 | Low-cost high accuracy three-dimensional positioning AGV navigation head based on laser positioning |
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| CN103234457B (en) | 2015-10-28 |
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Granted publication date: 20151028 Termination date: 20200423 |