CN105783942B - A kind of line laser device itself posture position detects measurement method automatically - Google Patents
A kind of line laser device itself posture position detects measurement method automatically Download PDFInfo
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- CN105783942B CN105783942B CN201610109428.9A CN201610109428A CN105783942B CN 105783942 B CN105783942 B CN 105783942B CN 201610109428 A CN201610109428 A CN 201610109428A CN 105783942 B CN105783942 B CN 105783942B
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
The present invention is suitable for laser measuring technique field, provides a kind of line laser device itself posture position and detects measurement method automatically, including：Isosceles trapezoid is placed in the scanning area of online laser aid and demarcates stake, and line laser device scanning calibration stake when line laser device normalization, the calibration stake scan data that call wire laser aid obtains is as standard value；The data of line laser device real time scan record calibration stake in actual use, are compared with the standard value of the calibration stake data of scanning record in calibration process, monitor line laser device itself posture position.By placing calibration stake in the scanning area of online laser aid, the calibration stake data of scanning survey in call wire laser aid calibration process, which are used as, refers to data, the real time monitoring to laser aid itself posture position is realized in real time scan monitoring in actual use, it is compared with reference data, realization measures the real time monitoring of itself posture position of line laser device with automatic detection.
Description
Technical field
The invention belongs to laser measuring technique fields more particularly to a kind of line laser device itself posture position to detect automatically
Measurement method.
Background technology
Railway construction at present rapidly increases, rolling stock project updates, reform of the railway management system innovation etc. and iron
Traffic safety related contradiction in road becomes increasingly conspicuous, and directly affects the construction of harmonious railway system and ensures national economy normal table hair
Exhibition, safety guarantee problem are extremely urgent.In railway construction and operation stage, the safety of the foreign matter of fouling of clearance gauge to existing line
Driving constitutes great threat.
China railways are distributed more widely, and each regional geography natural environment and climate condition difference is larger, round-the-clock in order to meet
Real time monitoring require using small, light-weight, high resolution, strong antijamming capability laser scanner to target area into
Row monitoring.But vibrations accumulated over a long period in actual environment after laser aid field calibration and other are inevitable
Influence of the factor to laser aid posture and position, and the variation of laser aid posture position will have a direct impact on laser measurement number
According to precision, can lead to mistake occur to the analysis of laser data, seriously affect the stability and reliability of system.
Invention content
A kind of line laser device itself posture position of being designed to provide of the embodiment of the present invention detects measurement method automatically,
The segmental defect of the prior art can at least be overcome.
The present embodiments relate to a kind of line laser device itself posture position detect measurement method automatically, including：Step
Rapid 1, it in the scanning area of the line laser device places isosceles trapezoid and demarcates stake, line laser when the line laser device normalization
Device scans the calibration stake, records the data of the calibration stake as standard value；
Step 2, the line laser device real time scan records the data for demarcating stake in the actual use process, with
The standard value of the calibration stake recorded in calibration process is compared, and monitors line laser device itself posture position.
A kind of line laser device itself posture position being related to as embodiment detects measurement method, the step 1 automatically
Data with the calibration stake for measuring and comparing in the step 2 include the width of the calibration stake；
Difference by measuring the width of the calibration stake obtains the angle change θ of line laser device vertical direction and is：
Wherein, the width of the calibration stake scanned when d is the line laser device normalization, D are in real-time monitoring process
The width of the calibration stake of scanning, R are the calibration stake at a distance from line laser device.
Judge the line laser device according to the positive and negative and size of the angle change θ of the line laser device vertical direction
The changed direction of itself posture position：
Indicating that the line laser device tilts down when θ ＞ 0, when θ ＜ 0, indicates that the line laser device tilts upwards, θ=
Indicate that the line laser device pitch attitude does not change when 0.
The data for the calibration stake for measuring and comparing in the step 1 and the step 2 include：Demarcate the starting point of stake
Position and relative distance；
Judge rotation of the line laser device on its axial direction perpendicular to ground according to the initial point position
Angle change ρ is：
ρ=alpha-beta；
α is that calibration stake described in real-time monitoring process originates polar polar angle value, and β is described to be measured in calibration process
It demarcates stake and originates polar polar angle value；
Judge the opposite mark of the line laser device with the relative distance of the calibration stake according to the line laser device
Determine the variation s of the displacement generated on stake direction.
According to rotational angle of the line laser device on its axial direction perpendicular to ground change the positive and negative of ρ and
Size judges the changed direction of line laser device itself posture position：
It is clockwise to illustrate that the line laser device produces on its axial direction perpendicular to ground when the ρ ＞ 0
Rotation, when ρ ＜ 0, illustrate that the line laser device produces rotation counterclockwise on its axial direction perpendicular to ground, ρ=
Illustrate the line laser device on its axial direction perpendicular to ground without generating rotation when 0.
The error range of θ, ρ and s are set according to actual environment demand；
When θ, ρ and s being calculated in the step 2 beyond the corresponding error range, the line laser dress is confirmed
It sets posture position to change, indication wire laser aid posture is abnormal, and staff is according to the positive and negative size of θ, ρ and s to institute
The posture for stating line laser device is adjusted.
Further include to laser measurement number during the data for obtaining the calibration stake in the step 1 and the step 2
According to be filtered：Frame data is segmented by adjacent 2 points of distance difference, and respectively to each section of data into
Row filtering operation.
Further include during the monitoring of the step 2：Device temperature data are obtained in real time, are missed according to the measurement of laser aid
Difference and temperature equation are eliminated because of measurement error caused by temperature change.
A kind of line laser device itself posture position provided in an embodiment of the present invention detects the beneficial effect of measurement method automatically
Fruit includes：
A kind of line laser device itself posture position provided in an embodiment of the present invention detects measurement method automatically, by online
Calibration stake is placed in the scanning area of laser aid, the calibration stake data measured in call wire laser aid calibration process are as ginseng
Data are examined, the real time monitoring to laser aid itself posture position is realized in real time scan monitoring in actual use, with ginseng
It examines data to be compared, realizes and the real time monitoring of line laser device itself posture position and automatic detection are measured, reduce and be
Maintenance cost when system operation reduces error data analysis caused by the variation of laser aid posture position, improves system fortune
Capable Stability and adaptability.
Laser measurement data are filtered, influence of the jump to overall data is eliminated, improve background data calibration
Precision.
Increase temperature monitoring system, device temperature data is obtained in real time, according to the measurement error of laser aid and temperature side
Journey is eliminated because of measurement error caused by temperature change.Ensure the stability of systematic error.
Description of the drawings
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description be only the present invention some
Embodiment for those of ordinary skill in the art without having to pay creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is a kind of structural schematic diagram of the embodiment of calibration stake provided by the invention；
Fig. 2 is the related data instruction figure of calibration stake provided in an embodiment of the present invention；
Fig. 3 is the stream that a kind of line laser device itself posture position provided in an embodiment of the present invention detects measurement method automatically
Cheng Tu.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
In order to illustrate technical solutions according to the invention, illustrated below by specific embodiment.
A kind of line laser device itself posture position provided by the invention detects measurement method and includes the following steps automatically：
Step 1, isosceles trapezoid is placed in the scanning area of online laser aid and demarcates stake, and line swashs when line laser device normalization
Electro-optical device scanning calibration stake, the data of record calibration stake are as standard value.
Step 2, line laser device real time scan records the data for demarcating stake in the actual use process, with calibration process
The standard value of middle record calibration stake is compared, and monitors line laser device itself posture position.
The detection measurement method of a kind of line laser device itself posture position provided in an embodiment of the present invention certainly, by online
Calibration stake is placed in the scanning area of laser aid, the calibration stake data measured in call wire laser aid calibration process are as ginseng
Data are examined, the real time monitoring to laser aid itself posture position is realized in real time scan monitoring in actual use, with ginseng
It examines data to be compared, realizes to the real time monitoring and self-calibration of itself posture position of line laser device, reduce system operation
When maintenance cost, reduce laser aid posture position variation caused by error data analysis, improve the steady of system operation
Qualitative and adaptability.
The measurement accuracy and measurement distance relationship, measurement distance and minimum resolution distance that laser aid is considered in step 1 are closed
System determines the upper and lower width and calibration stake height of calibration stake.According to actual application environment, the installation site of calibration stake is determined
With posture.Calibration stake needs to ensure the sensitivity to laser scanning device attitudes vibration, opposite position at a distance from line laser device
It sets that remoter sensitivity is higher, can be selected according to the characteristic of line laser device.
Further, the data for the calibration stake for measuring and comparing in step 1 and step 2 include：Width, initial point position and
Relative distance.
It is a kind of structural schematic diagram of the embodiment of calibration stake provided by the invention as shown in Figure 1, is illustrated in figure 2 this hair
The related data instruction figure of the calibration stake of bright offer, in Fig. 1 and Fig. 2, scanning calibration stake width is d when line laser device normalization,
The width of scanning calibration stake is D in real-time monitoring process, and the gap of stake width is demarcated by measurement can obtain line laser device
The angle change θ of vertical direction is：
Wherein, R is calibration stake at a distance from line laser device.
Judge that rotational angle of the line laser device on its axial direction perpendicular to ground changes ρ according to initial point position
For：
ρ=alpha-beta
α is that calibration stake originates polar polar angle value in real-time monitoring process, and β is the calibration measured in calibration process
Stake originates polar polar angle value.
Judge to generate on line laser device relative Calibration stake direction according to the relative distance of line laser device and calibration stake
The variation s of displacement.
It is illustrated in figure 3 a kind of stream of line laser device itself posture position self-calibrating method provided in an embodiment of the present invention
Cheng Tu, from the figure 3, it may be seen that turning according to the angle change θ of line laser device vertical direction, around on the axial direction on ground
The positive and negative and size for moving the variation s of the displacement generated on angle change ρ and relative Calibration stake direction may determine that line laser
The changed direction of device itself posture position：
Illustrate that line laser device tilts down when θ ＞ 0, when θ ＜ 0 illustrates that line laser device tilts upwards, and when θ=0 illustrates
Line laser device pitch attitude does not change.
Illustrate that line laser device produces clockwise rotation, ρ ＜ 0 on its axial direction perpendicular to ground when ρ ＞ 0
When illustrate that line laser device produces rotation counterclockwise on its axial direction perpendicular to ground, when ρ=0, illustrates line laser
Device is on its axial direction perpendicular to ground without generating rotation.
When system operation, to the laser measurement data point-to-point analysis of each frame, the reference data of correlation calibration stake carries out in fact
When monitor.The error range of θ, ρ and s are set according to actual environment demand, θ, ρ and s is calculated and exceeds corresponding error
When range, confirm that laser aid posture position changes, indication wire laser aid posture is abnormal, staff according to θ, ρ with
And the positive and negative size of s is adjusted the posture of line laser device.
Automatic recalibration can be arranged in software, reacquire system calibrating data, improve the reliability of system.
In embodiments of the present invention, the filtering of laser measurement data：Due to vibrations, testee surface reflectivity etc. because
Element, laser measurement values will appear jump (measurement error point), and the characteristic of jump is that measured value is not fixed and differs greatly.
During actual monitoring, because of the characteristic of laser equipment itself, jump can be inevitably generated.In step 1 and step 2
Further include that laser measurement data are filtered during the data for obtaining calibration stake：Pass through adjacent 2 points of range difference
Value is segmented frame data, and is filtered operation to each section of data respectively.To exclude the mistake of trip point introducing
Difference eliminates influence of the jump to overall data, improves the precision of background data calibration.
In embodiments of the present invention, further include during the monitoring of step 2：Device temperature data are obtained in real time, according to sharp
The measurement error and temperature equation of electro-optical device are eliminated because of measurement error caused by temperature change.In view of temperature fills laser
The influence for setting measurement accuracy, when device temperature gradually rises, laser measurement precision can constantly change, this characteristic can serious shadow
The stability to system overall precision is rung, the stability that the measurement error ensures systematic error is eliminated.
Those of ordinary skill in the art be further appreciated that implement the method for the above embodiments be can
It is completed with instructing relevant hardware by program, the program can be stored in computer read/write memory medium,
Described storage medium, including ROM/RAM, disk, CD etc..
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
Claims (7)
1. a kind of line laser device itself posture position detects measurement method automatically, which is characterized in that the method includes：
Step 1, isosceles trapezoid is placed in the scanning area of the line laser device and demarcate stake, when the line laser device normalization
Line laser device scans the calibration stake, records the data of the calibration stake as standard value；
Step 2, real time scan records the data of the calibration stake to the line laser device in actual use, and calibrated
The standard value of the data of the calibration stake recorded in journey is compared, and monitors the line laser in real time in actual use
Device itself posture position；
The data for the calibration stake for measuring and comparing in the step 1 and the step 2 include the width of the calibration stake；
Difference by measuring the width of the calibration stake obtains the angle change θ of line laser device vertical direction and is：
Wherein, the width of the calibration stake scanned when d is the line laser device normalization, D are to be scanned in real-time monitoring process
The calibration stake width, R be the calibration stake at a distance from line laser device.
2. the method as described in claim 1, which is characterized in that according to the angle change θ of the line laser device vertical direction
Positive and negative and size judge the changed direction of line laser device itself posture position：
Indicate that the line laser device tilts down when θ ＞ 0, when θ ＜ 0 indicates that the line laser device tilts upwards, when θ=0
Indicate that the line laser device pitch attitude does not change.
3. the method as described in claim 1, which is characterized in that measure and compare described in the step 1 and the step 2
Calibration stake data include：Demarcate the initial point position and relative distance of stake；
Judge rotational angle of the line laser device on its axial direction perpendicular to ground according to the initial point position
Changing ρ is：
ρ=alpha-beta；
α is to demarcate stake described in real-time monitoring process to originate polar polar angle value, and β is that the calibration stake originates pole seat when demarcating
Target polar angle value；
Judge the opposite calibration stake of the line laser device with the relative distance of the calibration stake according to the line laser device
The variation s of the displacement generated on direction.
4. method as claimed in claim 3, which is characterized in that according to the line laser device around it perpendicular to the axial direction on ground
The positive and negative and size of rotational angle variation ρ on direction judges the changed side of line laser device itself posture position
To：
Illustrate that the line laser device produces clockwise rotation on its axial direction perpendicular to ground when the ρ ＞ 0,
Illustrate that the line laser device produces rotation counterclockwise on its axial direction perpendicular to ground when ρ ＜ 0, when ρ=0 is said
The bright line laser device is on its axial direction perpendicular to ground without generating rotation.
5. the method as described in claim 2 or 4, which is characterized in that the error of θ, ρ and s are arranged according to actual environment demand
Range；
When θ, ρ and s being calculated in the step 2 beyond the corresponding error range, the line laser device appearance is confirmed
State position changes, and indication wire laser aid posture is abnormal, and staff is according to the positive and negative size of θ, ρ and s to the line
The posture of laser aid is adjusted.
6. the method as described in claim 1, which is characterized in that obtain the calibration stake in the step 1 and the step 2
Further include that laser measurement data are filtered during data：By adjacent 2 points of distance difference to frame data
It is segmented, and operation is filtered to each section of data respectively.
7. the method as described in claim 1, which is characterized in that further include during the monitoring of the step 2：It obtains and sets in real time
Standby temperature data is eliminated according to the measurement error and temperature equation of laser aid because of measurement error caused by temperature change.
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| CN201610109428.9A CN105783942B (en) | 2016-02-26 | 2016-02-26 | A kind of line laser device itself posture position detects measurement method automatically |
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| CN103472439A (en) * | 2012-06-06 | 2013-12-25 | 恩德莱斯和豪瑟尔两合公司 | Method and system for calibration distance measuring device |
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| CN104439726A (en) * | 2014-11-19 | 2015-03-25 | 苏州德龙激光股份有限公司 | Laser real-time deviation correction device and deviation correction method thereof |
| CN104536244A (en) * | 2015-01-06 | 2015-04-22 | 京东方科技集团股份有限公司 | Projection system and adjusting method for emergent light of laser pen in projection system |
| CN104567690A (en) * | 2014-12-26 | 2015-04-29 | 华中科技大学 | Field calibration method and device for laser beams |
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2016
- 2016-02-26 CN CN201610109428.9A patent/CN105783942B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103472439A (en) * | 2012-06-06 | 2013-12-25 | 恩德莱斯和豪瑟尔两合公司 | Method and system for calibration distance measuring device |
| CN104229633A (en) * | 2014-08-19 | 2014-12-24 | 甘肃酒钢集团宏兴钢铁股份有限公司 | Method for detecting bridge crane runway and wheel group by using laser distance measuring instrument |
| CN104439726A (en) * | 2014-11-19 | 2015-03-25 | 苏州德龙激光股份有限公司 | Laser real-time deviation correction device and deviation correction method thereof |
| CN104567690A (en) * | 2014-12-26 | 2015-04-29 | 华中科技大学 | Field calibration method and device for laser beams |
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