CN107356236B - Dynamic pose real-time measurement device and method - Google Patents
Dynamic pose real-time measurement device and method Download PDFInfo
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- CN107356236B CN107356236B CN201710635602.8A CN201710635602A CN107356236B CN 107356236 B CN107356236 B CN 107356236B CN 201710635602 A CN201710635602 A CN 201710635602A CN 107356236 B CN107356236 B CN 107356236B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
Abstract
The invention discloses a dynamic pose real-time measurement device which can be used for accurately measuring the real-time pose of a target to be measured in a dynamic environment and comprises a reference emission and transmission system, a double-screen laser imaging system, a binocular vision detection system and a data processing system; the reference transmitting and transferring system provides a three-dimensional angle reference for pose measurement by using cross line laser, and obtains the distance between a measurement target and the measurement reference by combining a distance measuring function; the double-screen laser imaging system receives the cross line laser and images on a receiving screen; the binocular vision detection system shoots cross laser images on the two receiving screens in real time, and extracts position information of a cross laser center under an image coordinate system and an included angle between a cross transverse line and an image coordinate system abscissa; the data processing system comprehensively processes the data information of each system and calculates the real-time pose of the measured target relative to the measurement reference. The invention has high measurement precision, adjustable measuring range and precision and is suitable for measuring the pose of an object in a vibration environment.
Description
Technical Field
The invention relates to a dynamic pose real-time measurement system which can be used for accurately measuring the real-time pose of a target to be measured in a dynamic environment.
Background
Pose measurement is an important content of geometric measurement, comprising three-dimensional angle measurement and three-dimensional position measurement, and is widely applied to the fields of precision machining and manufacturing, aerospace, military, communication and the like, wherein a real-time online measurement technology of dynamic poses is more and more emphasized. At present, only measuring systems and methods for measuring the variable angle in a static environment mainly comprise the following steps:
(1) The dynamic angle measuring method based on the Michelson interferometer can obtain higher precision under the condition that the rotation angle is small and the optical path change is approximately linear with the angle change. As the angle of rotation increases, the linear relationship no longer holds, resulting in a sharp increase in various errors, the measurement range is limited to a few degrees, and the laser interferometer must be prevented from being used in dry clean and vibration-free environments. The problems of measurement accuracy, range mutual restriction and the like exist, and the method cannot adapt to severe environments such as outdoor strong light, humidity, vibration and the like.
(2) The angle measurement system of the dual-constant value angle interferometer can realize high-precision measurement of any angle within the range of 0-360 degrees, the measurement uncertainty is better than 0.3 angle seconds, but the method has the problem that the processing difficulty of key equipment of the constant value angle is high, and the system is too complex and is not beneficial to practical application.
(3) The laser heterodyne interferometry angle measurement system, such as a double-frequency laser wedge-shaped plate interferometry measurement system designed on the basis of the principle, can measure the rotation angle within 360 degrees, has resolution up to 0.1 angle second, adopts two sets of mutually perpendicular light paths for eliminating two dead points of 90 degrees and 270 degrees, has very complex structure, large light path adjustment difficulty and is limited in practical application.
Disclosure of Invention
Aiming at the prior art, the invention provides a dynamic pose real-time measuring device which has high measuring precision and adjustable measuring range and precision, and can measure the real-time pose information of a measuring target relative to a fixed point in a dynamic environment (such as vibration and deflection deformation).
In order to solve the technical problems, the invention provides a dynamic pose real-time measurement device which comprises a reference emission and transmission system, a double-screen laser imaging system, a binocular vision detection system and a data processing system; the reference emission and transmission system comprises an infrared laser range finder, a 532nm green light cross line laser generator and a first transflective prism, wherein a 532nm band-stop filter film is coated on the semi-permeable surface of the first transflective prism, an optical path emitted by the infrared laser range finder and an optical path emitted by the green light cross line laser generator are perpendicularly intersected at a point O, the first transflective prism is arranged at the point O, and a middle point line of cross line laser emitted by the green light cross line laser generator is overlapped with light emitted by the infrared laser range finder after passing through the first transflective prism; the double-screen laser imaging system comprises a first laser receiving screen, a second laser receiving screen and a second transflective prism, wherein the first laser receiving screen and the second laser receiving screen are coated with diffuse reflection coatings, and a 500-600 nm bandpass filter film is coated on the semipermeable surface of the second transflective prism; the first laser receiving screen and the second laser receiving screen are mutually perpendicular and are respectively parallel to the adjacent two sides of the second transflective prism, and the distances from the first laser receiving screen and the second laser receiving screen to the adjacent two sides of the second transflective prism are unequal; the binocular vision detection system comprises a first CCD camera and a second CCD camera, wherein the first CCD camera is used for extracting the facula image on the first laser receiving screen, and the second CCD camera is used for extracting the cross facula image on the second laser receiving screen; the data processing system comprises a computer, a data processing unit is arranged in the computer, the infrared laser range finder, the first CCD camera and the second CCD camera are all connected with the computer, the infrared laser range finder transmits the measured distance from the range finding reference to the first laser receiving screen to the computer in real time, and the first CCD camera and the second CCD camera transmit respectively extracted cross light spot images to the computer in real time; and the data processing system processes the received information so as to obtain pose information of the measured object relative to the measurement reference.
The invention provides a dynamic pose real-time measurement method, which adopts the dynamic pose real-time measurement device, wherein the data processing system is provided with two windows for displaying cross facula images received from a first CCD camera and a second CCD camera on an operation interface of a computer, and the windows are respectively marked as a window A and a window B; and measuring the dynamic pose of the measured object in real time according to the following steps:
step one, installing a dynamic pose real-time measuring device, which comprises the following steps: 1-1) arranging the reference emission and transmission system on a fixed point measurement basis, arranging the double-screen laser imaging system and the binocular vision detection system on a measured object, starting the reference emission and transmission system, and ensuring that a central line of the reticle laser emitted by the green reticle laser generator at the initial moment passes through the first transflective prism and then is overlapped with a light emitted by the infrared laser range finder to be received by the first laser receiving screen and the second laser receiving screen; 1-2) starting the binocular vision detection system and the data processing system, previewing the cross light spots received by the first laser receiving screen and the second laser receiving screen on a computer screen, and adjusting the positions of the second transflective prism, the first CCD camera, the first laser receiving screen, the second CCD camera and the second laser receiving screen so that the two cross light spots are respectively positioned at the central positions of the window A and the window B; 1-3) fixing a dynamic pose real-time measuring device;
step two, obtaining information, including: 2-1) setting a time interval for extracting information by a computer data processing system; 2-2) the information extracted by the computer data processing system each time includes: the distance from the ranging reference to the first laser receiving screen, which is measured by the infrared laser range finder; a cross light spot image A shot by the first CCD camera; a cross light spot image B shot by the second CCD camera; 2-3) if the cross light spot image A does not appear in the window A and/or the cross light spot image B does not appear in the window B, returning to the step 2-2) for next information extraction; otherwise, calculating to obtain the center point coordinates of the cross light spot image A, the center point coordinates of the cross light spot image B and the included angle theta between the transverse line of the cross light spot image A and the transverse axis of the first CCD camera image coordinate system;
step three, obtaining a measurement result: comparing the information obtained every time after the 2 nd time with the information obtained for the first time, and obtaining the horizontal, vertical and displacement along the axial direction of the cross laser ray and the angle of pitching, yawing and rolling directions relative to the axial direction of the cross laser ray of the measured object in real time.
Compared with the prior art, the invention has the beneficial effects that:
(1) The measuring precision of the invention can be improved by enlarging the distance of the light path channel and replacing the CCD camera with higher resolution, and the measuring range can be realized by enlarging the area of the laser receiving screen, so the measuring range and the precision of the device of the invention are adjustable.
(2) The invention takes the stationary point outside the detection environment as the detection reference, can measure the real-time pose information of the measurement target relative to the stationary point in the dynamic environment (such as vibration and deflection deformation), and is suitable for measuring the pose of an object in the vibration environment.
(3) The invention has simple structure, convenient operation, easy adjustment of the light path and convenient installation.
(4) The system of the invention has small volume and light weight, is convenient to move and saves space.
Drawings
FIG. 1 is a schematic diagram of the dynamic pose real-time measuring device of the invention;
FIG. 2 is a schematic diagram of a reference emission and delivery system according to the present invention;
FIG. 3 is a schematic diagram of a dual-screen laser imaging system and a binocular vision detection system according to the present invention;
FIG. 4 is a schematic diagram of a dynamic pose real-time measurement method of the invention;
FIGS. 5-1 and 5-2 are schematic views of spot position extraction of a first laser receiving screen and a second laser receiving screen, respectively;
FIG. 6 is a flow chart of a method for measuring dynamic pose in real time according to the invention.
In the figure:
in the figure: 1-unable adjustment base, 2-532nm green light reticle laser generator, 3-infrared laser range finder, 4-first perspective reflection prism, 5-link plate, 51-right angle casing, 6-second perspective reflection prism, 7-first CCD camera, 8-first laser receiving screen, 9-second CCD camera, 10-second laser receiving screen, 11-coupled light, 12-plane mirror, 13-first CCD camera support, 14-first laser receiving screen fixation clamp, 15-second laser receiving screen fixation clamp, 16-second CCD camera support.
Detailed Description
The technical solution of the present invention will be described in further detail with reference to the accompanying drawings and the specific embodiments, which are only illustrative of the present invention and are not intended to limit the present invention.
The invention aims to solve the defects in the existing dynamic pose real-time measurement technology, and provides a brand new dynamic pose real-time measurement system which is used for real-time measurement of the pose of an object in a dynamic environment. As shown in fig. 1, the dynamic pose real-time measurement device provided by the invention comprises a reference emission and transmission system, a double-screen laser imaging system, a binocular vision detection system and a data processing system.
The reference emission and transmission system comprises an infrared laser range finder 3, a 532nm green light cross line laser generator 2 and a first transflective prism 4, wherein a 532nm band-stop filter film is coated on the semi-permeable surface of the first transflective prism 4, the 532nm green light cross line laser generator 2 and the infrared laser range finder 3 are mutually perpendicular and are fixed relative to the first transflective prism 4, an optical path emitted by the infrared laser range finder 3 and an optical path emitted by the green light cross line laser generator 2 are perpendicularly intersected at a point O, the first transflective prism 4 is arranged at the point O, and a middle line of cross line laser emitted by the green light cross line laser generator 2 is overlapped with light emitted by the infrared laser range finder 3 after passing through the first transflective prism 4 to form a coupling light 11, so that a cross line laser intersection point of the coupled green light cross line laser generator 2 is overlapped with an infrared laser beam of the laser range finder 3. In the invention, the first lens-reflector 4 is coated with a 532nm band-stop filter film by adopting an optical coating process, so that the total permeability of the light rays of the infrared laser range finder 3 and the total reflectivity of the green cross laser rays emitted by the green cross laser generator 2 are ensured. In the invention, the reference emission and transmission system is arranged and fixed at the fixed point measurement reference, so that the coupled light 11 is ensured to point to the vicinity of the measured object, and the optical detection reference for pose measurement can be quickly established.
One embodiment of the reference emission and delivery system is shown in fig. 2 for generating a remotely-measurable reticle laser to provide an optical laser reference for pose for subsequent pose measurements. In this embodiment, the fixing base 1 adopts a shell structure, and for compact layout, the 532nm green light reticle laser generator 2 is arranged near the infrared laser range finder 3 by arranging a plane mirror 12, so that the middle line of the reticle laser emitted by the 532nm green light reticle laser generator 2 sequentially passes through the plane mirror 12 and the first transflective prism 4 and then coincides with the light emitted by the infrared laser range finder 3.
As shown in fig. 1, the dual-screen laser imaging system comprises a first laser receiving screen 8, a second laser receiving screen 10 and a second transflective prism 6 which are arranged on a connecting plate 5, wherein the first laser receiving screen 8 and the second laser receiving screen 10 are coated with diffuse reflection coatings, and the semi-permeable surface of the second transflective prism 6 is coated with a 500-600 nm band-pass filter film; the first laser receiving screen 8 and the second laser receiving screen 10 are mutually perpendicular and are respectively parallel to the adjacent two sides of the second transflective prism 6, so that the distances from the first laser receiving screen 8 to the second laser receiving screen 10 to the adjacent two sides of the second transflective prism 6 are unequal, and the relative positions of the first laser receiving screen 8, the second laser receiving screen 10 and the second transflective prism 6 are fixed. The system is used for splitting and receiving the reference laser emitted by the reference emission and transmission system, imaging the reference laser, and providing a detection object for a subsequent binocular vision detection system. The second transflector 6 adopts an optical coating process, so that the total permeability of the infrared laser range finder 3 light and the total reflectivity of the green cross laser are ensured. The outer surfaces of the first laser receiving screen 8 and the second laser receiving screen 10 are coated with diffuse reflection coatings, so that clear imaging of the received green light cross light spots is ensured, and diffuse reflectivity of laser ranging light rays is ensured. The inner surfaces of the first laser receiving screen 8 and the second laser receiving screen 10 are plated with bandpass filter films aiming at the laser frequency of the green reticle, and if a light shield is combined, the interference of stray light on a binocular vision detection system can be reduced.
As shown in fig. 1, the binocular vision detection system includes a first CCD camera 7 and a second CCD camera 9, where the first CCD camera 7 is used for extracting a light spot image on the first laser receiving screen 8, and the second CCD camera 9 is used for extracting a cross light spot image on the second laser receiving screen 10.
In the invention, the first CCD camera 7 and the second CCD camera 9 adopt cameras of the same model, are mutually vertically arranged, ensure the same and fixed position relation between the first CCD camera 7 and the second CCD camera 9 and the corresponding laser receiving screen, and ensure the same field of view range of the first CCD camera 7 and the second CCD camera 9. The first CCD camera 7 and the second CCD camera 9 can collect cross light images on the laser receiving screen in real time and transmit the collected images to the data processing system in real time.
In the present invention, the dual-screen laser imaging system and the binocular vision detection system may be integrated in a right-angle housing 51 (i.e., the coupling plate 5 adopts a right-angle housing structure), as shown in fig. 3, the second transflective prism 6 is disposed at a right angle of the right-angle housing 51, and the first CCD camera bracket 13, the first laser receiving screen fixing clip 14, the second laser receiving screen fixing clip 15, and the second CCD camera bracket 16 are disposed at positions corresponding to the housing 51 according to the positional relationship between the above components, the first CCD camera 7 is fixed on the first CCD camera bracket 13, the first laser receiving screen 8 is fixed on the first laser receiving screen fixing clip 14, the second laser receiving screen 10 is fixed on the second laser receiving screen fixing clip 15, and the second CCD camera 9 is fixed on the second CCD camera bracket 16.
The data processing system comprises a computer for data processing and a data processing (software) unit installed in the computer, and is used for comprehensively processing the data of the reference emission and transmission system, the double-screen laser imaging system and the binocular vision detection system to obtain pose information of a measured object relative to a measurement reference, wherein the infrared laser range finder 3, the first CCD camera 7 and the second CCD camera 9 are connected with the computer, the data processing system extracts the coordinate of the central point of a cross laser line and the angle value of the transverse axis of the cross laser line in real time, and the distance data of the laser range finder are combined to realize real-time pose measurement of the measured object. The infrared laser range finder 3 transmits the measured distance from the ranging reference to the first laser receiving screen 8 to a computer in real time, and the first CCD camera 7 and the second CCD camera 9 transmit respectively extracted cross light spot images to the computer in real time; and the data processing system processes the received information so as to obtain pose information of the measured object relative to the measurement reference.
The dynamic pose real-time measuring device adopts the technical means based on laser and binocular machine vision, and can be used for real-time measurement of a measured target relative to a pose measuring reference in a dynamic environment. Firstly, as shown in fig. 1, the reference emission and transmission system is installed and fixed on a certain static surface 1 outside a dynamic measurement environment, and the reference emission and transmission system is opened to ensure that the coupled light 11 points to the vicinity of the measured object 5, so as to quickly establish an optical reference for pose monitoring. And installing the double-screen laser imaging system and the binocular vision detection system on the measured object to form the pose measurement system. The position relation of each part in the pose measuring device is fixed and is rigidly connected with the measured object, so that the coupled light 11 can be received by the pose measuring device. The method for realizing the real-time measurement of the dynamic pose by using the real-time measurement device of the dynamic pose comprises the following steps: two windows for displaying cross light spot images received from the first CCD camera 7 and the second CCD camera 9 are arranged on an operation interface of a computer through the data processing system and are respectively marked as a window A and a window B; and starting the binocular vision detection system, wherein the data processing system is in an open state, observing cross light imaging in image display windows (namely a window A and a window B) of data processing software, and finely adjusting the position of the pose measurement device to ensure that the centers of the two cross lights are near the center of a field of view. Clicking a measurement button of the data processing software to start a pose measurement function. The data processing software extracts images from the camera in real time, calculates the central coordinate of the cross light spot and the angle of the horizontal axis of the cross light, and takes the initial central coordinate value and the angle value as initial values of pose measurement. When the pose of the measured object changes, the pose measuring device changes along with the pose. In a system image coordinate system, the change of the center coordinates of the two cross lights reflects the displacement and angle change in the horizontal and vertical directions, the change of the angle of the horizontal axis of the cross lights reflects the angle change in the rolling direction, the change of the ranging data of the laser range finder reflects the displacement change of the pose measuring device along the direction of the coupling light 11, the pose change of the measured object relative to the reference of the fixed point can be obtained by comprehensive calculation of various data, and the real-time measurement of the pose is realized.
Fig. 6 shows the steps of measuring the dynamic pose of the measured object in real time according to the invention, comprising:
step one, installing a dynamic pose real-time measuring device:
1-1) arranging the reference emission and transmission system on the basis of fixed point measurement, arranging the double-screen laser imaging system and the binocular vision detection system on a measured object, starting the reference emission and transmission system, and ensuring that the coincident light rays emitted by the infrared laser range finder 3 and the central line of the reticle laser emitted by the green light reticle laser generator 2 at the initial moment can be received by the first laser receiving screen 8 and the second laser receiving screen 10 after passing through the first transflective prism 4;
1-2) starting the binocular vision detection system and the data processing system, previewing the cross light spots received by the first laser receiving screen 8 and the second laser receiving screen 10 on a computer screen, and adjusting the positions of the second transflective prism 6, the first CCD camera 7, the first laser receiving screen 8, the second CCD camera 9 and the second laser receiving screen 10 so that the two cross light spots are respectively positioned at the central positions of the window A and the window B;
1-3) fixing a dynamic pose real-time measuring device;
step two, obtaining information:
2-1) setting a time interval for extracting information by a computer data processing system;
2-2) the information extracted by the computer data processing system each time includes: the distance from the ranging reference to the first laser receiving screen 8 measured by the infrared laser range finder 3; a cross light spot image A shot by the first CCD camera 7; a cross light spot image B shot by the second CCD camera 9;
2-3) if the cross light spot image A does not appear in the window A and/or the cross light spot image B does not appear in the window B, returning to the step 2-2) for next information extraction; otherwise, calculating to obtain the center point coordinates of the cross light spot image A, the center point coordinates of the cross light spot image B and the included angle theta between the transverse line of the cross light spot image A and the transverse axis of the image coordinate system of the first CCD camera 7;
step three, obtaining a measurement result: comparing the information obtained every time after the 2 nd time with the information obtained for the first time, and obtaining the horizontal, vertical and displacement along the axial direction of the cross laser ray and the angle of pitching, yawing and rolling directions relative to the axial direction of the cross laser ray of the measured object in real time.
The design idea of the dynamic pose real-time measurement device provided by the invention is a three-dimensional angle real-time detection technology in dynamic pose measurement based on laser and machine vision, as shown in fig. 4, and a stationary point near a measurement environment is used as a detection reference. Because the laser beam has good directivity and energy concentration, the detection reference is transmitted to the detected position by utilizing the cross laser beam emitted by the laser fixed at the fixed point, the parallel opposite type laser receiving screen is adopted to intercept and sample the laser beam in the cross laser beam light path, and the position information of the cross light spots on the two monitoring screens at the light interception section in a CCD image coordinate system is monitored by combining a high-definition industrial CCD optical imaging sensitive device positioned behind the screen with a machine vision technology, so that the three-dimensional angle change of the detected position is obtained.
As shown in FIG. 4, with a stationary point O s To detect the reference, a cross laser is fixed at O s The detection reference is transferred to the measured location using a green cross laser beam. Two parallel and opposite laser receiving screens (namely a first laser receiving screen and a second laser receiving screen) are positioned in the cross laser beam optical path and are used for intercepting the cross laser beam and imaging on the monitoring screen. The two laser receiving screens are parallel and opposite to each other, have unchanged relative positions, have a distance l, are fixed at the detected position, and can change with the detected position to reflect the change of the detected position angle. Taking two moments before and after the angle change of the laser receiving screen as research objects for analysis, wherein a point A and a point B are respectively cross light spots formed by laser beams on the two screens before the change, and a point A 'and a point B' are respectively cross light spots formed on the two screens after the change. The position information of the cross light spots A, B before the change of the two laser receiving screens in the CCD coordinate system and the position information of the cross light spots A ', B' after the change of the two laser receiving screens in the CCD coordinate system are extracted by utilizing a high-definition industrial CCD visual sensitive element and combining a machine visual technology, as shown in figures 5-1 and 5-2.
The position information of the cross light spot in the CCD coordinate system comprises two parts: first laser receiving screen 8And the center point coordinates of the cross light spots in the second laser receiving screen 10 and the included angles between the transverse lines of the cross light spots in the second laser receiving screen 2 and the X axis of the CCD coordinate system. Let the coordinates of the cross spot A, B before the change in the CCD coordinate system be (X) A ,Z A ) And (X) B ,Z B ) Let the coordinates of the changed cross spots A ', B' in the CCD coordinate system be (X) A′ ,Z A′ ) And (X) B′ ,Z B′ ) And the included angle between the B transverse line and the X axis is theta 1, and the included angle between the B' transverse line and the X axis is theta 2. The angle change of the two laser receiving screens in the horizontal direction is defined as a yaw angle alpha, the angle change of the two laser receiving screens in the vertical direction is defined as a pitch angle beta, and the angle change of the two laser receiving screens in the vertical direction is defined as a roll angle gamma. Let Deltax be 1 ＝X A′ -X A ，Δx 2 ＝X B′ -X B ，Δz 1 ＝Z A′ -Z A ，Δz 2 ＝Z B′ -Z B . Then there are:
γ＝θ2–θ1 (3)
thus, the angle change amounts in three directions can be obtained.
Wherein the displacement O in the direction of light s B is given by a laser rangefinder.
In the invention, the data processing system extracts the coordinates of the central point of the cross laser line shot by the first CCD camera 7 and the second CCD camera 9 in the binocular vision detection system in real time, and takes the coordinate values extracted at the initial moment as the reference of pose change. Meanwhile, the data processing unit can synchronously read the ranging value of the reference transmitting and transmitting system in real time, and the ranging value is the distance from the center point of the cross laser on the first laser receiving screen 8 to the laser range finder because the ranging laser coincides with the center of the cross laser and the second transflective prism 6 keeps full permeability to the ranging laser through coating treatment. When the pose measuring device changes along with the pose of the measured point, the positions of the center points of the cross laser lines on the first laser receiving screen 8 and the second laser receiving screen 10 in the image coordinate system change, the change reflects the three-dimensional angle change of the measured position, the change value of the three-dimensional angle can be output in real time through the data processing unit, meanwhile, the change of the distance along the light direction can be obtained through the laser range finder, and the data processing unit can output the real-time pose change data of the measured position.
Although the invention has been described above with reference to the accompanying drawings, the invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many modifications may be made by those of ordinary skill in the art without departing from the spirit of the invention, which fall within the protection of the invention.
Claims (2)
1. A dynamic pose real-time measurement device comprises a reference emission and transmission system, a double-screen laser imaging system, a binocular vision detection system and a data processing system; it is characterized in that the method comprises the steps of,
the reference emission and transmission system comprises an infrared laser range finder (3), a 532nm green light cross line laser generator (2) and a first transflective prism (4), wherein a semipermeable surface of the first transflective prism (4) is coated with a 532nm band-stop filter film, an optical path emitted by the infrared laser range finder (3) and an optical path emitted by the green light cross line laser generator (2) vertically intersect at a point O, the first transflective prism (4) is arranged at the point O, and a middle point line of cross line laser emitted by the green light cross line laser generator (2) is overlapped with light emitted by the infrared laser range finder (3) after passing through the first transflective prism (4);
the double-screen laser imaging system comprises a first laser receiving screen (8), a second laser receiving screen (10) and a second transflective prism (6), wherein the first laser receiving screen (8) and the second laser receiving screen (10) are coated with diffuse reflection coatings, and a semi-permeable surface of the second transflective prism (6) is coated with a 500-600 nm band-pass filter film; the first laser receiving screen (8) and the second laser receiving screen (10) are mutually perpendicular and are respectively parallel to the adjacent two sides of the second transflective prism (6), and the distances between the first laser receiving screen (8) and the second laser receiving screen (10) and the adjacent two sides of the second transflective prism (6) are unequal;
the binocular vision detection system comprises a first CCD camera (7) and a second CCD camera (9), wherein the first CCD camera (7) is used for extracting a facula image on the first laser receiving screen (8), and the second CCD camera (9) is used for extracting a cross facula image on the second laser receiving screen (10);
the data processing system comprises a computer, a data processing unit is arranged in the computer, the infrared laser range finder (3), a first CCD camera (7) and a second CCD camera (9) are connected with the computer, the infrared laser range finder (3) transmits the measured distance from a range finding reference to the first laser receiving screen (8) to the computer in real time, and the first CCD camera (7) and the second CCD camera (9) transmit respectively extracted cross light spot images to the computer in real time; and the data processing system processes the received information so as to obtain pose information of the measured object relative to the measurement reference.
2. The dynamic pose real-time measurement method is characterized in that the dynamic pose real-time measurement device according to claim 1 is adopted, two windows for displaying cross light spot images received from the first CCD camera (7) and the second CCD camera (9) are respectively recorded as a window A and a window B on an operation interface of a computer by the data processing system; and measuring the dynamic pose of the measured object in real time according to the following steps:
step one, installing a dynamic pose real-time measuring device:
1-1) arranging the reference emission and transmission system on a fixed point measurement basis, arranging the double-screen laser imaging system and the binocular vision detection system on a measured object, starting the reference emission and transmission system, and ensuring that the coincident light rays emitted by the infrared laser range finder (3) and the middle point line of the cross line laser emitted by the green light cross line laser generator (2) at the initial moment can be received by the first laser receiving screen (8) and the second laser receiving screen (10) after passing through the first transflective prism (4);
1-2) starting the binocular vision detection system and the data processing system, previewing the cross light spots received by the first laser receiving screen (8) and the second laser receiving screen (10) on a computer screen, and adjusting the positions of the second transflective prism (6), the first CCD camera (7), the first laser receiving screen (8), the second CCD camera (9) and the second laser receiving screen (10) so that the two cross light spots are respectively positioned at the central positions of the window A and the window B;
1-3) fixing a dynamic pose real-time measuring device;
step two, obtaining information:
2-1) setting a time interval for extracting information by a computer data processing system;
2-2) the information extracted by the computer data processing system each time includes: the distance from the ranging reference to the first laser receiving screen (8) measured by the infrared laser range finder (3); a cross light spot image A shot by the first CCD camera (7); a cross light spot image B shot by the second CCD camera (9);
2-3) if the cross light spot image A does not appear in the window A and/or the cross light spot image B does not appear in the window B, returning to the step 2-2) for next information extraction; otherwise, calculating to obtain the center point coordinates of the cross light spot image A, the center point coordinates of the cross light spot image B and the included angle theta between the transverse line of the cross light spot image A and the transverse axis of the image coordinate system of the first CCD camera (7);
step three, obtaining a measurement result:
comparing the information obtained every time after the 2 nd time with the information obtained for the first time, and obtaining the horizontal, vertical and displacement along the axial direction of the cross laser ray and the angle of pitching, yawing and rolling directions relative to the axial direction of the cross laser ray of the measured object in real time.
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