CN108072325B

CN108072325B - Object position determining method and device

Info

Publication number: CN108072325B
Application number: CN201711491493.3A
Authority: CN
Inventors: 胡淼龙
Original assignee: ZHEJIANG WIRELESS NETWORK TECHNOLOGY Ltd
Current assignee: ZHEJIANG WIRELESS NETWORK TECHNOLOGY Ltd
Priority date: 2017-12-30
Filing date: 2017-12-30
Publication date: 2021-02-09
Anticipated expiration: 2037-12-30
Also published as: CN108072325A

Abstract

The invention provides a method and a device for determining the position of an object, wherein the method comprises the following steps: receiving irradiation information of a planar laser beam covering at least one observation reference surface from within a predetermined vicinity of the observation reference surface using any one of one-dimensional, two-dimensional, and three-dimensional measurement light targets; observing irradiation information of a ranging laser beam or sending the ranging laser beam, wherein the ranging laser beam is used for acquiring the distance between a position reference point of an object to be measured and a ranging reference point; determining the position of an object to be measured using the irradiation information of the planar laser beam and the distance acquired by the ranging laser beam; or transmitting irradiation information of the planar laser beam and a distance acquired by transmitting a ranging laser beam to a position determination unit; or transmitting irradiation information of the planar laser beam to a position determination unit and transmitting irradiation information of the ranging laser beam to a ranging unit. High precision, high reliability, low cost and easy layout.

Description

Object position determining method and device

Technical Field

The invention relates to the field of automatic measurement, in particular to a method and a device for determining the position of an object.

Background

The displacement detection and the deformation detection of buildings or industrial facilities have wide application requirements, wherein the displacement detection or the deformation detection of bridges, dams and rails is an important technical means for safe operation and production.

At present, methods for detecting displacement and deformation of dams and bridges comprise sight line detection method, GPS (global navigation system) and combination method of the methods and surface displacement sensors; the displacement and deformation detection of the rail (rail transit running rail) comprises measurement of absolute displacement or deformation based on CPIII (control Point III), or measurement of displacement or deformation based on the performance of a total station and a measuring vehicle, or measurement based on a displacement sensor.

The sight line method is mainly used for detecting the displacement and deformation of the dam and the bridge by adopting a fixed end point station setting method, namely, a fixed sight line is established to measure the deviation value of each displacement mark point. The method is simple in observation and convenient in calculation, and is a common method for production units.

The GPS detection method is used for detecting the displacement and deformation of the dam and the bridge, and the three-dimensional coordinates of the ground point to be measured are determined through a navigation positioning signal sent by a GPS/Beidou satellite; or the deformation condition of the surface crack of the dam body is monitored in real time by combining a surface displacement sensor, and real-time data are transmitted to a monitoring center by using a wired/wireless remote network in a triggering type acquisition or real-time acquisition mode, so that the crack development condition of the dam body is known in time.

One mode of travel rail displacement measurement based on a displacement sensor is to use an eddy current displacement sensor, and the current eddy current sensor can overcome the defects of overlarge sensitivity change, shortened measurement range, poor linearity and the like caused by sensitivity to the material of a measured target object.

The patent application with the application number of CN201510932848.2 and the invention name of "a sight line deformation measurement method" discloses a sight line deformation measurement method, which can effectively solve the problems that the full-length reference line is taken as an aiming reference, when the reference line is too long, the target is fuzzy, the aiming precision is poor, the distance between a rear viewpoint and a measuring point is too far, and the focusing error of a telescope has large influence, and can effectively reduce the influence of atmospheric refraction on an observation result.

The invention has application number CN201410668036.7, and the title of the invention is a horizontal displacement observation platform by a total station sight line method and a use method thereof, comprising: the laser comprises a base, a slide arranged on the base, a collimation part which is perpendicular to the base and can slide along the slide, a pointer fixed at the bottom of the collimation part, a scale surface which is arranged on the base and corresponds to a reading pointer, and a laser. When the all-station instrument sighting line method displacement monitoring device is used, the scale surface of the all-station instrument sighting line method horizontal displacement observation platform is tightly attached to a displaced deformation monitoring point, the observation direction is determined through laser emitted by a laser, the scale surface is adjusted to be vertical to the sighting surface, three adjusting screws are rotated to ensure that the base is horizontal, an initial scale value of the center of the observation platform, which is just opposite to the deformation monitoring point, is recorded, the deformation monitoring point is found, an operator of the observation platform is instructed to translate the sighting part, a reflector with a sighting cross on the sighting part is overlapped with a cross wire in a telescope of the all-station instrument, then the scale value corresponding to a reading pointer is recorded, and the initial scale value is subtracted by the scale value, so that the displacement of the deformation point from the sighting surface is obtained, and the displacement of the deformation point relative to the original position.

The application number is CN201610857432.3, the invention name is 'track state on-line monitoring method based on laser monitoring', discloses a track state on-line monitoring method based on laser monitoring, which is realized by a communication transmission system, track monitoring center equipment, a laser distance detector, a microprocessor and a communication module, can carry out on-line monitoring on the change of the relative distance between two tracks, the change of the plane height, the change and the deformation of a track fastening facility, and has the characteristics of good monitoring real-time performance, timely discovery and alarm of sudden track parameter change, and low testing workload and cost.

The application number is CN201611156166.8, the invention name is a photogrammetry method for railway track rail direction detection, and discloses that a single-rail image with fixed geometric distortion is collected by a rail surface camera at certain intervals in the forward moving process of a rail detection trolley, geometric correction, matching and splicing are carried out on the image, so that a two-dimensional long-rail image is obtained, edge detection is carried out on the long-rail image, and the inner edge of a long rail can be obtained preliminarily. The line structure light source emits a laser plane from the direction vertical to the longitudinal axis of the steel rail, the laser plane forms a light strip curve capable of reflecting the outline characteristics of the steel rail on the surface of the steel rail, and the track side camera shoots the light strip curve at intervals. And (3) carrying out light bar thinning, steel rail contour reduction and steel rail contour matching on the image acquired by the rail side camera, calculating a fat edge value of the steel rail contour, and compensating the long rail inner edge at the corresponding position according to the calculated fat edge value, thereby obtaining the long rail inner edge at the position of 16mm below the rail surface. And establishing two-dimensional coordinates according to the inner edge of the long rail, so that the coordinates of each point on the edge are obtained, and the rail direction of any chord length at each position of the railway track can be calculated.

In the existing displacement and deformation measurement technology, total station measuring equipment is expensive and low in efficiency, a photogrammetry method needs a detection trolley, and the collimation error is multiplied under the condition of longer distance by a collimation method.

Disclosure of Invention

The invention provides a method and a device for determining the position of an object, which are used for overcoming the defects that total station measuring equipment is expensive and low in efficiency, a photogrammetry method needs a detection trolley, the collimation error is multiplied under the condition of longer distance, and the measurement efficiency and the measurement precision cannot be improved by means of an observation reference surface.

The invention provides an object position determining method, which comprises the following steps:

receiving irradiation information of a planar laser beam covering at least one observation reference surface from within a predetermined vicinity of the observation reference surface using any one of one-dimensional, two-dimensional, and three-dimensional measurement light targets;

observing irradiation information of a ranging laser beam or sending the ranging laser beam, wherein the ranging laser beam is used for acquiring the distance between a position reference point of an object to be measured and a ranging reference point;

determining the position of an object to be measured using the irradiation information of the planar laser beam and the distance acquired by the ranging laser beam; or

Transmitting irradiation information of the planar laser beam and a distance acquired by transmitting a ranging laser beam to a position determination unit; or

Transmitting irradiation information of the planar laser beam to a position determination unit and transmitting irradiation information of a ranging laser beam to a ranging unit;

wherein,

one observation datum plane is determined by three datum points with known point positions or unchanged point positions;

when two or three observation reference planes are present, one observation plane intersects or perpendicularly intersects with at least one other observation plane.

The invention provides an object position determining device, which comprises the following modules:

the device comprises a reference surface laser beam irradiation information acquisition module, a ranging laser beam module and a light beam irradiation information and distance information processing module; wherein,

the reference surface laser beam irradiation information acquisition module is used for receiving irradiation information of a planar laser beam covering at least one observation reference surface from a preset neighborhood of the observation reference surface by using any one of one-dimensional, two-dimensional and three-dimensional measurement light targets, and comprises at least one of a light scattering surface sub-module, a light detector sub-module and an optical imaging sub-module;

the distance measurement laser beam module is used for observing irradiation information of a distance measurement laser beam or sending the distance measurement laser beam, the distance measurement laser beam is used for obtaining the distance between a position reference point of an object to be measured and a distance measurement reference point, and the distance measurement laser beam module comprises a light scatterer submodule and an optical imaging sensor submodule or comprises a distance measurement laser beam sending submodule;

a beam irradiation information and distance information processing module for determining the position of an object to be measured using the irradiation information of the planar laser beam and the distance acquired by the ranging laser beam; or transmitting irradiation information of the planar laser beam and a distance acquired by transmitting a ranging laser beam to a position determination unit; or transmitting irradiation information of the planar laser beam to a position determination unit and transmitting irradiation information of a ranging laser beam to a ranging unit; the data transmission device comprises at least one of a data processing sub-module and a data transmission sub-module;

wherein,

The method and the device provided by the embodiment of the invention can overcome at least one of the defects that the total station measuring equipment is expensive and low in efficiency, the photogrammetry method needs a detection trolley, the collimation error is multiplied under the condition of longer distance, and the measurement efficiency and the measurement precision cannot be improved by means of an observation reference surface. Low cost, high precision, high efficiency and practicability.

Additional features and advantages of the invention will be set forth in the description which follows.

Drawings

Fig. 1 is a flowchart of an object position determining method according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of an object position determining apparatus according to an embodiment of the present invention;

fig. 3 is a schematic composition diagram of a three-dimensional measurement light target included in an apparatus for determining a position of an object according to an embodiment of the present invention.

Examples

In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.

The method examples and the device examples provided by the invention relate to concepts, and are explained as follows:

the first, second and third reference positions given by the method and device embodiment are arranged on an object with unchanged geographic position and shape or difficult to change, and the object to be detected is an object with changed geographic position or object shape;

specifically, factors causing the change of the geographical position or the shape of the object to be measured include rain, mechanical impact, mechanical vibration, mechanical rolling, temperature change, sunlight, wind blowing and natural aging;

specifically, as an example of an object whose geographical position or object shape may be changed, the physical position of a running rail used in rail transit may be at least one of translated and deformed due to rolling or natural factors of the vehicle.

The first reference position, the second reference position and the third reference position are respectively positioned on different geographic positions, and the corresponding first reference point, the corresponding second reference point and the corresponding third reference point respectively have different geographic coordinate values.

Specifically, the geographic coordinate values of the first, second and third reference points are known or unknown;

the geographic coordinate values of the first reference point, the second reference point and the third reference point are unknown, the method is applied to a scene of monitoring the relative displacement of the object body position, and under the application scene, only the fact that whether the object to be measured displaces relative to the observation reference surface needs to be judged.

The planar laser beam in the method and the device embodiment is a cross section with a linear shape in the cross section shape of the beam; or the beam irradiates a light spot with a linear shape in the shape of the light spot on a plane vertical to the main propagation direction of the beam;

specifically, a specific example of the planar laser beam is any one of a line beam, a delta beam, a cross beam, a torx beam, a chuan beam, an -shaped beam, a ^ shaped beam, an ^ shaped beam, a Δ -shaped beam, and an L-shaped beam because the cross-sectional shape of the beam or a spot formed by irradiating the beam on a plane perpendicular to the main propagation direction of the beam includes a laser beam of a line shape.

Preferably, the planar laser beam is a line beam, or an L-shaped beam, a j-shaped beam, or a cross-shaped beam.

More preferably, the planar laser beam is a linear beam.

The L-shaped beam, the T-shaped beam, or the cross-shaped beam all comprise a linear beam element;

the | -shaped beam, or cross-shaped beam, includes L-shaped beam elements.

For convenience of describing the planar laser beam, the present embodiment defines or specifies the following terms by taking the linear beam as an example:

before giving the meaning of a specific term, it is first pointed out: the width of the linear beam in this embodiment is a symmetric beam taking an angle bisector of a beam width angle as a symmetric plane, or a symmetric beam taking an angle bisector of a beam width angle as a symmetric axis; the in-line beam described in this embodiment is a symmetric beam taking an angle bisector of a beam thickness angle as a symmetric plane in thickness, or a symmetric beam taking an angle bisector of a beam thickness angle as a symmetric axis;

the linear beam means that the cross section shape of the beam or the shape of a light spot irradiated on a plane vertical to the main propagation direction of the beam is linear; the cross section of the beam is a section on a plane perpendicular to the main propagation direction of the beam;

the width dimension half-power angle of the linear beam is the half-power angle of the linear beam in a plane in which the extension direction of a word line is located;

the linear beam width dimension angular bisector is a plane which is perpendicular to a linear line light spot or a linear cross section of the linear beam and bisects the half-power angle of the linear beam;

the thickness dimension half-power angle of the linear beam is the half-power angle of the linear beam in a plane vertical to the extension direction of a word line;

the thickness dimension angular bisector of the linear beam is a plane which is perpendicular to the linear beam width dimension angular bisector and bisects the thickness dimension half-power angle of the linear beam;

the visual axis or optical axis of the linear beam is the intersection line of the linear beam width dimension angle bisector and the linear beam thickness dimension angle bisector.

Specifically, when the planar laser beam described in this embodiment is a laser beam including a linear shape in the cross-sectional shape of the beam or in a spot formed on a plane perpendicular to the main propagation direction of the beam by beam irradiation, for example, when the facet laser beam is any one of a three-shaped beam, a cross-shaped beam, a torx-shaped beam, a chuan-shaped beam, an -shaped beam, a ^ shaped beam, an ^ shaped beam, a Δ -shaped beam, and an L-shaped beam, selecting a beam forming part with a linear beam shape as a linear beam element, and applying the concepts of the width dimension half-power angle of the linear beam, the linear beam width dimension angle bisection plane, the thickness dimension half-power angle of the linear beam, the thickness dimension angle bisection plane of the linear beam and the visual axis or the optical axis of the linear beam, which are defined for the linear beam, to the linear beam element.

The following describes an example and a system of the position detection method provided by the present invention with reference to the drawings.

Example of a method for determining the position of an object

Referring to fig. 1, an embodiment of an object position determining method according to the present invention includes the following steps:

a step S110 of receiving irradiation information of a planar laser beam covering at least one observation reference plane from within a predetermined vicinity of the observation reference plane using any one of one-dimensional, two-dimensional, and three-dimensional measurement light targets;

step S120, observing irradiation information of a ranging laser beam or sending the ranging laser beam, wherein the ranging laser beam is used for acquiring the distance between a position reference point of an object to be measured and a ranging reference point;

step S130, determining the position of the object to be measured by using the irradiation information of the planar laser beam and the distance acquired by the ranging laser beam; or

wherein,

The method of the present embodiment, wherein,

the preset neighborhood of the observation datum plane is formed by points with the distance to the observation datum plane smaller than a preset distance value threshold, and the value of the preset distance value threshold is greater than zero meters and smaller than or equal to 10 meters;

preferably, the predetermined distance value threshold takes a value in a range greater than zero meters and less than or equal to 1 meter;

more preferably, the predetermined distance value threshold is a value in a range greater than zero millimeters and less than or equal to 10 millimeters.

The method of the present embodiment, wherein,

the construction method of the observation datum plane comprises at least one of the following steps:

emitting a planar laser beam through a first reference point corresponding to a first reference position, and simultaneously irradiating different parts of the planar laser beam on a second reference point corresponding to a second reference position and a third reference point corresponding to a third reference position; a beam surface of a planar laser beam which passes through the first reference point and irradiates the second and third reference points is used as a first observation reference surface;

emitting a planar laser beam through a fourth reference point corresponding to a fourth reference position, and simultaneously irradiating different parts of the planar laser beam on a fifth reference point corresponding to a fifth reference position and a sixth reference point corresponding to a sixth reference position; a beam surface of the planar laser beam which passes through the fourth reference point and irradiates the fifth reference point and the sixth reference point is used as a second observation reference surface;

emitting a planar laser beam through a seventh reference point corresponding to a seventh reference position, and simultaneously irradiating different portions of the planar laser beam to an eighth reference point corresponding to an eighth reference position and a ninth reference point corresponding to a ninth reference position, respectively; a beam surface of the planar laser beam which passes through the seventh reference point and irradiates the eighth and ninth reference points is used as a third observation reference surface; and

emitting an L-shaped surface laser beam through a first reference point corresponding to a first reference position, irradiating a second reference point corresponding to a second reference position with an inflection point of the L-shaped surface laser beam, and simultaneously irradiating a third reference point corresponding to a third reference position with a horizontal line part or a vertical line part except the inflection point of the L-shaped surface laser beam; beam surfaces corresponding to a horizontal line part and a vertical line part of the L-shaped planar laser beam which passes through the first reference point and irradiates the second reference point and the third reference point are respectively used as a first observation reference surface and a second observation reference surface;

preferably, beam surfaces corresponding to the horizontal line portion and the vertical line portion of the "L" -shaped planar laser beam are beam surfaces perpendicular to each other.

Specifically, the "L" -shaped planar laser beam is a beam whose sectional shape on a plane perpendicular to its main irradiation direction is "L" shaped, or is a ═ y-shaped beam including an "L" -shaped element, or a cross-shaped beam, whose sectional shape on a plane perpendicular to its main irradiation direction is "L" shaped.

In this embodiment, the first, second, and third observation reference surfaces are mutually intersected or mutually perpendicular.

When the second observation datum plane is intersected or perpendicular to the first observation datum plane, the first observation datum plane is used for acquiring the position or displacement of the position reference point of the object to be detected relative to the first observation datum plane in the first dimension, and the second observation datum plane is used for acquiring the position or displacement of the position reference point of the object to be detected relative to the second observation datum plane in the second dimension;

the planar laser beam is a laser beam which is in a linear shape in the cross section shape of the beam or in a light spot formed on a plane perpendicular to the main propagation direction of the beam by beam irradiation;

the beam surface of the planar laser beam, in which the irradiation position error of the fifth reference point and the sixth reference point passing through the fourth reference point is smaller than a predetermined reference surface error threshold, is used as a second observation reference surface used for detecting the position or displacement of the position reference point of the object to be measured with respect to the observation reference surface.

Specifically, the first reference light target corresponding to the second observation reference plane for acquiring the irradiation position of the planar laser beam at the fifth reference position, and the sixth reference light target corresponding to the second observation reference plane for acquiring the irradiation position of the planar laser beam at the sixth reference position.

In particular, the first, second, third, fourth, fifth and sixth reference positions are located at different geographical positions, or at least one of the first, second and third reference positions is located at the same geographical position as one of the fourth, fifth and sixth reference positions; or

The first, second, third, seventh, eighth, and ninth reference positions are located at different geographic locations, or at least one of the first, second, and third reference positions is located at the same geographic location as one of the seventh, eighth, and ninth reference positions; or

The fourth, fifth, sixth, seventh, eighth, and ninth reference positions are located at different geographic locations, or at least one of the fourth, fifth, and sixth reference positions is located at the same geographic location as one of the seventh, eighth, and ninth reference positions.

The method of the present embodiment, wherein,

the first dimension is a vertical dimension or a vertical dimension, and the second dimension is a transverse dimension or a horizontal dimension; or, the first dimension is a transverse dimension or a horizontal dimension, and the second dimension is a vertical dimension or a vertical dimension;

the first dimension intersects or perpendicularly intersects the second dimension.

Preferably, the first dimension is a vertical dimension, and the second dimension is a horizontal dimension; or the first dimension is the horizontal dimension and the second dimension is the vertical dimension.

In this embodiment, emitting a linear laser beam through a first reference point corresponding to a first reference position includes:

and making the incident point of the optical axis of the linear laser beam on the light reflection unit be at the same point as the first reference point or the distance error between the incident point and the first reference point be less than a preset incident point distance error threshold.

The light reflection unit comprises a light reflection surface and a light reflection surface bearing body;

the incident point of the optical axis of the linear laser beam on the light reflection unit is the incident point of the optical axis of the linear laser beam on the light reflection surface included in the light reflection unit.

Specifically, the light reflection unit includes any one of a light reflection mirror, a light reflection mirror sheet, and a light reflection film.

Specifically, the predetermined incident point distance error threshold is a real number with a value ranging from 0 to 3 millimeters, and includes a value of 0, and includes a value of 3;

preferably, the predetermined incident point distance error threshold is a real number with a value ranging from 0 to 0.3 mm, excluding a value of 0, including a value of 0.3.

In this embodiment, an optical axis of the linear laser beam is also referred to as a visual axis of the linear laser beam, or referred to as a ray passing through a center of a linear laser beam light source to a linear light spot mass center line of the linear laser beam, or referred to as a beam direction of a main propagation direction of the linear laser beam.

In this embodiment, the using a plane of the in-line laser beam passing through the first, second, and third reference points as an observation reference plane includes:

using a plane where a thickness dimension angle bisection plane of the linear beam, the distances between which and the first, second and third reference points are respectively smaller than a preset reference plane error threshold, as an observation reference plane; or

And using a plane formed by the visual axis of the linear beam and the central line of the linear light spot of the beam in the length direction, wherein the distances between the visual axis of the linear beam and the first, second and third reference points are less than the error threshold of the preset reference plane, as an observation reference plane.

In this embodiment, the thickness dimension angle-bisector of the in-line beam is also referred to as the thickness center plane of the in-line beam.

Specifically, the thickness center plane of the in-line beam is constituted by points having equal distances to both flat surfaces of the flat in-line beam.

Specifically, the predetermined reference surface error threshold is a real number with a value ranging from 0 to 5 millimeters, and includes a value of 0, including a value of 5;

preferably, the predetermined datum error threshold is a real number with a value ranging from 0 to 0.5 mm, excluding a value of 0, including a value of 0.5.

In this embodiment, the planar laser beam covering the observation reference surface includes:

the distance between the thickness dimension angle bisection plane and the three reference points at different positions is respectively smaller than a planar laser beam of a preset reference plane error threshold, the observation reference plane is a plane passing through the three reference points at different positions, and preferably, the planar laser beam is a linear beam or a beam containing linear beam elements; or

The planar laser beam is a planar laser beam, the distances between a plane formed by a visual axis and a center line of a linear light spot of the beam in the length direction and three reference points at different positions are respectively smaller than a preset reference surface error threshold, the observation reference surface is a plane passing through the three reference points at different positions, and the planar laser beam is preferably a linear beam or a beam containing linear beam elements.

The method of the present embodiment, wherein,

the one-dimensional measurement light target comprises a passive scatterer on which any one of a long-strip scattering surface and a cylindrical scattering surface is positioned, or comprises a fixed or movable light detector distributed in one dimension;

the passive scatterer or the optical detector is used for measuring the position of a ranging datum point contained in the optical target or a position reference point of the object to be measured relative to the observation datum plane.

The method of the present embodiment, wherein,

the two-dimensional measurement light target comprises a passive plane formed by a scattering surface or an active plane formed by a parallel surface;

the intersection line of the passive plane or the active plane and the observation reference plane is used for measuring the trend of the light spot or the beam plane, or is used for determining the inclination angle of the measuring light target relative to the observation reference plane.

In particular, the same active or passive parallel surface pair has the same normal direction, and when the measuring light target comprises two or more parallel surface pairs, the normal directions of different parallel surface pairs are different.

In particular, one and the same active or passive parallel surface pair can simultaneously receive the irradiation of the areal laser beam covering the observation reference surface from within a predetermined vicinity of the different observation reference surfaces.

In particular, the dimensions of the passive or active parallel-facing are known, and the spacing of the two parallel faces is known.

Further, when facing in parallel as two planes with square edges, the side length of the square is known.

Furthermore, on two planes with square edges contained in parallel pairs, measuring mark points or measuring control points with known positions are arranged.

The method of the present embodiment, wherein,

the three-dimensional measuring light target comprises a passive parallel surface pair formed by two parallel scattering surfaces or comprises an active parallel surface pair formed by two parallel surfaces, and the parallel surface pair is used for determining the trend of an observation reference surface relative to the measuring light target or determining the inclination angle of the measuring light target relative to the observation reference surface.

In this embodiment, as a specific implementation manner of the active parallel-to-parallel surface, the first plane and the second plane included in the active parallel-to-parallel surface are rectangular planes or square planes.

In this embodiment, as a specific implementation manner of the active parallel surface, a first plane where the optical detector or the optical imaging sensor included in the active parallel surface is located is a long strip plane or a cross-shaped plane formed by two long strips, and a second plane where the optical detector or the optical imaging sensor is located is a rectangular plane or a square plane.

In this embodiment, as a specific implementation manner of the passive parallel-to-parallel surface, the first and second planes where the scattering surfaces included in the passive parallel-to-parallel surface are located are rectangular planes or square planes.

In this embodiment, as a specific implementation manner of the passive parallel-to-surface, a first plane where the scattering surface included in the passive parallel-to-surface is located is a long strip-shaped plane or a cross-shaped plane formed by two long strips, and a second plane is a rectangular plane or a square plane.

In particular, as an implementation of the active or passive parallel facing comprised by the measuring optical target, it comprises:

the distance between the first square plane and the second square plane is a known numerical value which is larger than zero, and the distance between the first square plane and the observation reference surface light source is smaller than the distance between the second square plane and the observation reference surface light source.

The method of the present embodiment, wherein,

the irradiation information of the planar laser beam covering at least one observation reference plane is received from within a predetermined neighborhood of the observation reference plane using any one of one-dimensional, two-dimensional, and three-dimensional measuring optical targets, wherein,

the receiving irradiation information of a planar laser beam covering at least one observation reference surface from within a predetermined neighborhood of the observation reference surface using a one-dimensional measurement light target includes:

using a strip-shaped scattering surface or a cylindrical scattering surface of a one-dimensional measuring light target to receive irradiation of a planar laser beam covering an observation reference surface from a preset neighborhood of the same observation reference surface, and using an optical imaging sensor to acquire an image of an irradiation spot of the planar laser beam from the scattering surface; and

using a fixed or movable light detector positioned in one dimension of a one-dimensional measuring light target to receive direct irradiation of a planar laser beam covering the observation reference surface from a preset neighborhood of the same observation reference surface, and acquiring an irradiation point of the planar laser beam in the dimension;

the receiving irradiation information of a planar laser beam covering at least one observation reference surface from within a predetermined vicinity of the observation reference surface using a two-dimensional measuring light target, includes:

receiving irradiation of a planar laser beam covering an observation reference surface from a predetermined neighborhood of the same observation reference surface by using one scattering surface of a two-dimensional measurement optical target, and acquiring an image of an irradiation spot of the planar laser beam from the scattering surface by using an optical imaging sensor;

using a fixed or movable light detector positioned in one plane of a two-dimensional measuring light target to receive direct irradiation of a planar laser beam covering the observation reference plane from a preset neighborhood of the same observation reference plane, and acquiring two or more irradiation points of the planar laser beam in the one plane; and

using fixed or movable optical imaging sensors respectively positioned in one plane of a two-dimensional measuring light target to receive direct irradiation of a planar laser beam covering an observation reference plane from a predetermined neighborhood of the same observation reference plane, and acquiring an irradiation image of the planar laser beam in the plane;

the method for receiving irradiation information of a planar laser beam covering at least one observation reference surface from a preset neighborhood of the observation reference surface by using a three-dimensional measuring light target comprises at least one of the following steps:

receiving irradiation of a planar laser beam covering an observation reference surface from a preset neighborhood of the same observation reference surface by using two parallel scattering surfaces of a three-dimensional measurement light target, and acquiring images of irradiation spots of the planar laser beam from the two parallel scattering surfaces by using an optical imaging sensor;

using fixed or movable photodetectors respectively positioned in two parallel planes of a three-dimensional measuring optical target to receive direct irradiation of a planar laser beam covering an observation reference plane from a preset neighborhood of the same observation reference plane, and acquiring three or more irradiation points of the planar laser beam in the two planes; and

the method comprises the steps of receiving direct irradiation of a planar laser beam covering an observation reference plane from a predetermined neighborhood of the same observation reference plane by using fixed or movable optical imaging sensors respectively located in two parallel planes of a three-dimensional measuring optical target, and acquiring irradiation images of the planar laser beam in the two planes.

Specifically, the direct irradiation of the planar laser beam in the predetermined vicinity of the observation reference plane means that the planar laser beam emitted from the light source end is directly irradiated onto the photodetector without reflection or scattering, or the planar laser beam emitted from the light source end is directly irradiated onto the optical imaging sensor without reflection or scattering.

Specifically, the planar laser beam in the predetermined vicinity of the observation reference plane is a planar laser beam in which an angle-bisector of a thickness dimension of the beam coincides with the observation reference plane or the observation reference plane is included in the thickness dimension of the beam.

The method of the present embodiment, wherein,

the observation ranging laser beam is used for acquiring the distance between the position reference point of the object to be measured and the ranging reference point, or the ranging laser beam is sent, wherein,

the observation ranging laser beam irradiation information includes:

acquiring a direct irradiation point of the ranging laser beam corresponding to any one of the one-dimensional, two-dimensional and three-dimensional measuring light targets using a photodetector or an optical imaging sensor on the measuring light target, and determining an irradiation position of the ranging laser beam on the measuring light target relative to the distance measuring point using the direct irradiation point; or

Acquiring an irradiation spot of a ranging laser beam on a measuring light target by using an optical imaging sensor, and determining an irradiation position of the ranging laser beam on the measuring light target relative to a distance measuring point by using the measuring spot;

the transmitting ranging laser beam includes:

a ranging laser beam for acquiring a position reference point of the object to be measured or a distance of the distance measuring point with respect to the ranging reference point is sent from the distance measuring point on the measuring optical target to the ranging reference point whose position is known, corresponding to any one of the one-dimensional, two-dimensional and three-dimensional measuring optical targets.

Specifically, the ranging laser beam irradiates the measuring light target from a ranging reference point with a known position, and is used for acquiring the distance between a position reference point of the object to be measured and the ranging reference point;

specifically, the distance measuring point on the measuring light target and the position reference point of the object to be measured are points having the same point location or different point locations, and the distance measuring point on the measuring light target and the position reference point of the object to be measured keep a known point location corresponding relationship.

Specifically, the number of distance measurement points on the measurement light target is one or a natural number greater than one.

The method of the present embodiment, wherein,

the observing of the irradiation information of the ranging laser beam further includes:

and transmitting the observed irradiation information of the ranging laser beam to a distance measuring beam transmitting end, wherein the distance measuring beam transmitting end is used for adjusting the beam irradiation direction so as to keep the tracking ranging of the measuring light target.

Further, the keeping of the tracking range of the measuring optical target includes:

the laser ranging beam transmitting end adjusts the beam irradiation direction to keep tracking irradiation on a distance measuring point on the light target or a position reference point of the object to be measured.

The method of the present embodiment, wherein,

the determining a position of an object to be measured using irradiation information of the planar laser beam and a distance acquired by the ranging laser beam includes:

determining a distance of an observation reference plane with respect to a position reference point of an object to be measured on a one-dimensional measuring light target using position information of an irradiation point of the one-dimensional measuring light target by a planar laser beam, and determining a distance from a ranging reference point to the position reference point of the object to be measured using a distance acquired by a ranging laser beam, corresponding to the one-dimensional measuring light target; or, the distance of the observation reference plane from the distance measurement point on the one-dimensional measurement light target is determined using the positional information of the irradiation point of the planar laser beam to the measurement light target, and the distance from the ranging reference point to the distance measurement point is determined using the distance acquired by the ranging laser beam;

determining an intersection line of the observation reference surface and the plane on which the scatterer is located using at least one of an image of a linear irradiation spot of the planar laser beam in a predetermined vicinity of a specific observation reference surface intercepted by a scattering surface included in the measurement light target, an irradiation position of the planar laser beam acquired by the photodetector on the plane on which the photodetector is located, and an irradiation position of the planar laser beam acquired by the optical imaging sensor on the plane on which the optical imaging sensor is located, taking a distance value of a position reference point of the object to be measured with respect to the intersection line as a distance value or an approximate value of the distance from the position reference point of the object to be measured to the observation reference surface, and determining a distance from the ranging reference point to the distance measurement point using the distance acquired by the ranging laser beam;

corresponding to the three-dimensional measuring optical target, using two parallel scattering planes of the measuring optical target or an active parallel surface pair including any one of a photodetector and an optical imaging sensor to receive an image of an irradiation spot obtained from irradiation of a planar laser beam covering the same observation reference plane from within a predetermined vicinity of the same observation reference plane, determining the observation reference plane as the two parallel scattering planes or a tangent plane to the active parallel surface, using a distance value of any one of a position reference point and a distance measurement point of the object to be measured with respect to the tangent plane as a distance value of the position reference point or the distance measurement point of the object to be measured with respect to the observation reference plane, and determining a distance from the ranging reference point to the distance measurement point using the distance obtained by the ranging laser beam;

the transmitting irradiation information of the planar laser beam and the distance acquired by transmitting the ranging laser beam to a position determination unit includes:

at least one of an irradiation spot image of the planar laser beam, an irradiation point position parameter of the planar laser beam, an intersection line expression parameter of the planar laser beam to the two-dimensional light target, a section expression parameter of the planar laser beam to the three-dimensional light target, and a distance acquired by transmitting the ranging laser beam is transmitted to the position determination unit;

the transmitting irradiation information of the planar laser beam to a position determination unit and transmitting irradiation information of a ranging laser beam to a ranging unit includes:

and at least one of the observed irradiation spot information of the ranging laser beam and the direct irradiation spot information of the ranging laser beam obtained by the photoelectric detector and the optical imaging sensor is sent to the ranging unit.

Specifically, two or more irradiation positions of a planar laser beam in a predetermined vicinity of a specific observation reference plane intercepted by a fixed or movable photodetector included in a measurement light target are used to determine an intersection line of the observation reference plane and a plane where the photodetector is located, and a distance value of a position reference point of the object to be measured with respect to the intersection line is used as an approximate value of a distance from the position reference point of the object to be measured to the observation reference plane.

Specifically, three or more irradiation point positions which are obtained by receiving irradiation of a planar laser beam covering an observation reference plane from a preset neighborhood of the same observation reference plane are used as fixed or movable photodetectors which are positioned in two parallel planes of the measuring light target, the irradiation point positions are positioned on the two parallel planes, the tangent plane of the observation reference plane to the two parallel scattering planes is determined, and the distance value of the position reference point of the object to be measured relative to the tangent plane is used as the distance value of the position reference point of the object to be measured relative to the observation reference plane.

Specifically, an intersection line of the observation reference plane and the plane where the optical imaging sensor is located is determined by using an illumination image in a predetermined neighborhood of a specific observation reference plane captured by a fixed or movable optical imaging sensor included in the measuring optical target, and a distance value of a position reference point of the object to be measured with respect to the intersection line is used as an approximate value of a distance from the position reference point of the object to be measured to the observation reference plane.

Specifically, irradiation images of a planar laser beam covering an observation reference plane in two planes are received from within a predetermined neighborhood of the same observation reference plane using fixed or movable optical imaging sensors respectively located in two parallel planes of a measuring optical target, a tangent plane of the observation reference plane to the two parallel planes is determined, and a distance value of a position reference point of an object to be measured with respect to the tangent plane is taken as a distance value of the position reference point of the object to be measured with respect to the observation reference plane.

The method of the present embodiment, wherein,

the method comprises the following steps of receiving images of irradiation spots obtained by irradiation of planar laser beams covering an observation reference plane from a preset neighborhood of the same observation reference plane by using two parallel scattering planes of a measuring optical target, determining tangent planes of the observation reference plane facing the two parallel scattering planes, and using a distance value of a position reference point of an object to be measured relative to the tangent planes as a distance value of the position reference point of the object to be measured relative to the observation reference plane, wherein the method comprises the following steps:

acquiring images of irradiation spots of planar laser beams covering an observation reference surface on a first scattering surface and a second scattering surface from a preset neighborhood of the same observation reference surface by using an optical imaging sensor, wherein the two parallel scattering surfaces of a measuring optical target receive the irradiation spots;

the image of the irradiation light spot on the first scattering surface is used for obtaining a center line of the irradiation light spot in the in-line length direction, the center line is used as an intersection line A of the observation reference surface and the first scattering surface, the image of the irradiation light spot on the second scattering surface is used for obtaining a center line of the irradiation light spot in the in-line length direction, and the center line is used as an intersection line B of the observation reference surface and the second scattering surface;

determining the coordinates of two points PA1 and PA2 on an intersecting line A by using a coordinate system based on the measuring light target and a point with known position in the coordinate system, determining the coordinates of one point PB1 on an intersecting line B, and determining a section or section equation of an observation datum plane facing two parallel scattering planes contained in the measuring light target by using the coordinates of the points PA1, PA2 and PB 1; or

Determining the coordinates of a point PA1 on an intersecting line A by using a coordinate system based on the measuring light target and a point with known position in the coordinate system, determining the coordinates of two points PB1 and PB2 on an intersecting line B, and determining a section or section equation of an observation datum plane facing two parallel scattering planes contained in the measuring light target by using the coordinates of the points PA1, PPB1 and PB 2;

and calculating the distance value between the position reference point and the observation datum plane by using the coordinate value of the position reference point contained in the measuring light target in the coordinate system based on the measuring light target and the tangent plane equation.

Specifically, the coordinate system based on the measuring light target has a coordinate origin and a coordinate axis which move synchronously with the movement of the measuring light target and rotate synchronously with the rotation of the measuring light target, or in the coordinate system based on the measuring light target, the coordinate value of a point on the measuring light target does not change with the movement or rotation of the measuring light target.

Specifically, the side lengths of a first scattering surface and a second scattering surface included in the measuring optical target are known, and the distance between the first scattering surface and the second scattering surface is known; and/or the presence of a gas in the gas,

the first scattering surface and the second scattering surface of the measuring light target respectively comprise measuring mark points with known positions or dimensions, or the first scattering surface and the second scattering surface of the measuring light target respectively comprise measuring control points with known positions or dimensions.

Further, the measurement mark point or the measurement control point is passive or active.

As a specific implementation manner of the coordinate system based on the measuring light target, the method comprises the following steps:

the method comprises the following steps that a first square plane is used as a first parallel plane, a second square plane is used as a second parallel plane, the side length of the first square plane is smaller than that of the second square plane, four vertexes of the first square plane are all located on diagonal lines of the second square plane, the distance between the first square plane and the second square plane is a known numerical value larger than zero, and the distance between the first square plane and an observation reference surface light source is smaller than that between the second square plane and the observation reference surface light source;

using two right-angle sides corresponding to one vertex angle of the second square plane as an X axis and a Y axis, and using a straight line which passes through the vertex angle and is perpendicular to the plane where the second square is located as a Z axis to construct a rectangular coordinate system based on the measuring light target; or

Using two right-angle sides corresponding to one vertex angle of the first square plane as an X axis and a Y axis, and using a straight line which passes through the vertex angle and is perpendicular to the plane where the first square is located as a Z axis to construct a rectangular coordinate system based on the measuring light target; or

The focal points of two diagonals of the plane of the first square are used as the origin of a coordinate system, one of two lines which pass through the origin and are respectively parallel to two mutually perpendicular sides of the first square is used as an X axis, the other line is used as a Y axis, and a straight line which passes through the origin and is perpendicular to the plane of the first square is used as a Z axis to construct a rectangular coordinate system based on the measuring light target.

Specifically, the measuring optical target comprises a measuring reference line, and the measuring reference line comprises at least one of a transverse horizontal reference line, a longitudinal horizontal reference line and a vertical reference line.

The measuring light target comprises a measuring reference line, wherein,

the transverse horizontal reference line is used for acquiring at least one of the angle of the measuring light target rotating around the longitudinal axis relative to the horizontal plane and the angle of the measuring light target rotating around the longitudinal axis relative to the longitudinal vertical plane;

a longitudinal horizontal reference line for at least one of obtaining an angle of rotation of the measurement optical target about the transverse axis relative to the horizontal plane and obtaining an angle of rotation of the measurement optical target about the transverse axis relative to the transverse vertical plane;

and the vertical reference line is used for acquiring at least one of the angle of the measuring optical target rotating around the longitudinal axis relative to the vertical plane, the angle of the measuring optical target rotating around the longitudinal axis relative to the horizontal plane, the angle of the measuring optical target rotating around the transverse axis relative to the vertical plane and the angle of the measuring optical target rotating around the transverse axis relative to the horizontal plane.

The method provided by this embodiment further includes at least one of the following steps:

moving the measuring light target to enable the position change of the position reference point of the object to be measured or the position change of the point which is contained and keeps the determined position corresponding relation with the position reference point of the object to be measured to reflect the position change of the surface of the object to be measured so as to obtain the space change information of the surface of the object to be measured;

during the process that the measuring optical target is moved from a first area covered by the first planar laser beam to a second area covered by the second planar laser beam, switching the observation of the first planar laser beam to the observation of the second planar laser beam according to at least one of beam switching indication information, geographical position information, spot thickness information of the first planar laser beam, intensity information of the first planar laser beam, spot thickness information of the second planar laser beam, intensity information of the second planar laser beam, difference information of the first planar laser beam and the second planar laser beam in spot thickness, and difference information of the first planar laser beam and the second planar laser beam in intensity; and

in the process that the measuring light target is moved to enter a second area covered by a second planar laser beam from a first area covered by a first planar laser beam, switching observation of the first ranging laser beam to observation of the second ranging laser beam according to at least one of ranging laser beam switching indication information, geographical position information, spot scale information of the first ranging laser beam, intensity information of the first ranging laser beam, spot scale information of the second ranging laser beam, intensity information of the second ranging laser beam, difference information of the first ranging laser beam and the second ranging laser beam in spot scale, and difference information of the first ranging laser beam and the second ranging laser beam in intensity;

wherein,

the first region is adjacent to or overlaps the second region;

the first area and the second area are covered by the same or different observation reference surfaces;

the first planar laser beam covers an observation reference plane of the first region, and the second planar laser beam covers an observation reference plane of the second region;

the first planar laser beam and the second planar laser beam are respectively emitted by different light sources;

the first and second planar laser beams use the same or different wavelengths.

An implementation manner of obtaining spatial variation information of a surface of an object to be measured by reflecting a positional variation of a surface of the object to be measured as a positional variation of a positional reference point of the object to be measured included in a moving measurement optical target or a positional variation of a point included in a positional correspondence relationship with the positional reference point of the object to be measured, includes:

the measuring light target moves along the extending direction of the rail traffic running rail, the position change of the measuring light target reflects the height change of the upper surface of the running rail in the moving process, and the horizontal or horizontal observation reference surface and the measuring light target are used for detecting the space change of the height of the upper surface of the running rail.

Specifically, a determined position corresponding relation is formed between a point contained in the measuring light target and a position reference point of the object to be measured;

the position reference point of the object to be measured is at least one of a point on the upper surface of the running rail, a point on the measuring light target, which has a determined position corresponding relation with the upper surface of the running rail, and a point on the measuring light target, at which the distance between the measuring light target and the upper surface of the running rail is kept unchanged.

Further, the measuring light target is moved along the extending direction of the track, a determined position corresponding relation is formed between a point contained in the measuring light target and a position reference point of the object to be measured, the position change of the point contained in the measuring light target is consistent with the position change of the surface of the running track, and the position offset of the surface of the running track can be obtained by obtaining the position offset of the point contained in the measuring light target relative to the observation reference surface at different moving positions.

Example II an object position determining apparatus

Referring to fig. 2, an embodiment of an object position determining apparatus provided by the present invention includes:

a reference plane laser beam irradiation information acquisition module 210, a ranging laser beam module 220, and a beam irradiation information and distance information processing module 230; wherein,

a reference plane laser beam irradiation information acquisition module 210 for receiving irradiation information of a planar laser beam covering at least one observation reference plane from within a predetermined neighborhood of the observation reference plane using any one of one-dimensional, two-dimensional and three-dimensional measurement light targets, including at least one of a light scattering plane sub-module, a light detector sub-module and an optical imaging sub-module;

the distance measurement laser beam module 220 is used for observing irradiation information of a distance measurement laser beam or sending the distance measurement laser beam, the distance measurement laser beam is used for obtaining the distance between a position reference point of an object to be measured and a distance measurement reference point, and comprises a light scatterer submodule and an optical imaging sensor submodule or comprises a distance measurement laser beam sending submodule;

a beam irradiation information and distance information processing module 230 for determining a position of an object to be measured using irradiation information of the planar laser beam and a distance acquired by the ranging laser beam; or transmitting irradiation information of the planar laser beam and a distance acquired by transmitting a ranging laser beam to a position determination unit; or transmitting irradiation information of the planar laser beam to a position determination unit and transmitting irradiation information of a ranging laser beam to a ranging unit; the data transmission device comprises at least one of a data processing sub-module and a data transmission sub-module;

wherein,

The present embodiment provides an apparatus, wherein,

In this embodiment, the two-dimensional measurement light target module includes a position reference point of the object to be measured or a point that is included and maintains a certain position corresponding relationship with the position reference point of the object to be measured, and specifically includes at least one component or device including:

the light scattering body comprises a light scattering surface or a light reflecting surface which is a plane with two geometric dimensions of which the specific dimension is known;

an optical imaging sensor for acquiring a spot image on the light scattering body or for receiving an image formed by direct irradiation of a planar laser beam covering an observation reference surface from within a predetermined vicinity of the observation reference surface;

a light detector for receiving direct irradiation of the planar laser beam covering the observation reference surface from within a predetermined vicinity of the observation reference surface.

The three-dimensional measurement optical target module, as shown in fig. 3, includes a position reference point of the object to be measured or a point 310 that is included and maintains a certain position corresponding relationship with the position reference point of the object to be measured, and includes at least one of the following sub-modules:

a scatterer composed of two parallel scattering surfaces 320 and 330, wherein the two parallel scattering surfaces 320 and 330 comprise light scattering surfaces or light reflecting surfaces which are both planes with two dimensions and known dimensions, the two parallel scattering surfaces 320 and 330 form a passive parallel surface pair with a known distance and larger than zero, and the passive parallel surface pair is used for determining the trend of an observation reference surface relative to a measuring light target or determining the inclination angle of the measuring light target relative to the observation reference surface, wherein one scattering surface with a smaller area is positioned in front of the scattering surface with a larger area, or the scattering surface with a smaller area is closer to the outside of the measuring light target than the scattering surface with a larger area; and an optical imaging sensor 380 for acquiring spot images from the passive

parallel pairs

320 and 330;

optical imaging sensors, respectively located in two parallel planes, fixed or movable optical imaging sensors, for receiving direct irradiation of a planar laser beam covering an observation reference plane from within a predetermined neighborhood of the same observation reference plane; the two parallel surfaces are planes with two dimensions and known dimensions, the two parallel scattering surfaces form an active parallel surface pair with a known distance which is larger than zero, one scattering surface with a smaller area is positioned in front of the scattering surface with a larger area, or the scattering surface with the smaller area is closer to the outer part of the measuring light target than the scattering surface with the larger area;

the optical detectors are respectively positioned in the fixed or movable optical detectors in the two parallel planes and used for receiving the direct irradiation of the planar laser beam covering the observation reference plane from the preset adjacent area of the same observation reference plane; the two parallel surfaces are planes with two dimensions and known dimensions, the two parallel scattering surfaces form an active parallel surface pair with a known distance larger than zero, one scattering surface with a smaller area is positioned in front of the scattering surface with a larger area, or the scattering surface with the smaller area is closer to the outer part of the measuring light target than the scattering surface with the larger area.

The present embodiment provides an apparatus, wherein,

the reference plane laser beam irradiation information acquisition module 210 for performing an operation of receiving irradiation information of a planar laser beam covering at least one observation reference plane from within a predetermined vicinity of the observation reference plane using any one of one-dimensional, two-dimensional, and three-dimensional measuring light targets, wherein,

The present embodiment provides an apparatus, wherein,

the ranging laser beam module 220 is configured to perform an operation of observing irradiation information of a ranging laser beam or transmitting a ranging laser beam, wherein,

the observation ranging laser beam irradiation information includes:

the transmitting ranging laser beam includes:

The method of the present embodiment, wherein,

The present embodiment provides an apparatus, wherein,

the beam irradiation information and distance information processing module 230 is configured to perform an operation of determining a position of an object to be measured using irradiation information of the planar laser beam and a distance acquired by the ranging laser beam, including:

the beam irradiation information and distance information processing module 230, configured to perform an operation of transmitting irradiation information of the planar laser beam and a distance acquired by transmitting a ranging laser beam to a position determination unit, includes:

the beam irradiation information and distance information processing module 230, configured to perform operations of transmitting irradiation information of the planar laser beam to a position determination unit and transmitting irradiation information of a ranging laser beam to a ranging unit, including:

The present embodiment provides an apparatus, wherein,

receiving images of irradiation spots obtained by irradiation of planar laser beams covering an observation reference plane from a predetermined neighborhood of the same observation reference plane by using two

parallel scattering planes

320 and 330 of a measuring optical target, determining tangent planes of the observation reference plane facing the two parallel scattering planes, and using a distance value of a position reference point of an object to be measured with respect to the tangent planes as a distance value of the position reference point of the object to be measured with respect to the observation reference plane, including:

acquiring images of irradiation spots of planar laser beams covering an observation reference plane from the same observation reference plane 350 on a first scattering surface 320 and a second scattering surface 330 by using an optical imaging sensor 380, wherein the two parallel scattering surfaces 320 and 330 of the measuring optical target receive the images of the irradiation spots;

obtaining a center line 321 of the irradiation spot in the in-line longitudinal direction by using the image of the irradiation spot on the first scattering surface 320, using the center line 321 as an intersection line a of the observation reference surface and the first scattering surface 320, obtaining a center line 331 of the irradiation spot in the in-line longitudinal direction by using the image of the irradiation spot on the second scattering surface 330, and using the center line 331 as an intersection line B of the observation reference surface and the second scattering surface;

Determining the coordinates of a point PA1, namely the point 322 in FIG. 3, on an intersecting line A by using a coordinate system based on the measuring light target and a point with a known position in the coordinate system, determining the coordinates of two points PB1 and PB2 on an intersecting line B, wherein in FIG. 3, the point PB1 is a point 332, and the point PB2 is a point 333, and determining a tangent plane or a tangent plane equation of the observation reference plane 350 to the two

parallel scattering planes

320 and 330 included in the measuring light target by using the coordinates of the points PA1, PPB1 and PB 2;

the distance value of the position reference point 310 from the perpendicular projection point 390 in the predetermined vicinity of the observation reference plane is calculated using the coordinate value of the position reference point 310 included in the measuring light target in the coordinate system based on the measuring light target and the tangent plane equation.

Specifically, referring to fig. 3, point 322 and point 323 are the intersection lines of the spot center line 321 and the two edge lines of the first scattering surface 320, point 332 and point 333 are the intersection lines of the spot center line 331 and the two edge lines of the second scattering surface 330, the tangent plane formed by point 322, point 323, point 332 and point 333 is coplanar with the observation reference plane 350 theoretically or in the absence of measurement error, and the triangular plane formed by point 322, point 332 and point 333 is coplanar with the observation reference plane 350 theoretically or in the absence of measurement error.

The measuring light target comprises a measuring reference line, wherein,

The apparatus of this embodiment further includes a moving and laser beam switching control module 240, configured to perform at least one of the following operation steps:

wherein,

the first region is adjacent to or overlaps the second region;

the first and second planar laser beams use the same or different wavelengths.

Specifically, the optical imaging DEVICE works in a visible light or non-visible light wavelength range, and as an implementation manner, a specific DEVICE form of the optical imaging module includes a CCD (CHARGE-COUPLED DEVICE) imaging module or a CMOS (COMPLEMENTARY METAL OXIDE semiconductor) imaging module.

Specifically, the cpiii (contral point iii) control point is a railway track surface control point.

As a specific application mode of the method and the system embodiment in the rail transit, the first reference point, the second reference point and the third reference point are arranged as follows:

one implementation manner in which the point locations as the second reference point and the third reference point are arranged vertically includes:

setting the second reference point and the third reference point in front of the first reference point, and setting the third reference point above the second reference point;

specifically, a first reference point is provided on one side of the track running rail, and a second reference point and a third reference point are provided ahead of the first reference point in the track extending direction and on the same side of the track; or

The first reference point is provided on one side of the rail running rail, and the second reference point and the third reference point are provided ahead of the first reference point in the rail extending direction and on the other side of the rail.

Further, the setting of the first reference point on one side of the track running rail, and the setting of the second reference point and the third reference point ahead of the first reference point in the track extending direction and on the same side of the track, includes:

arranging a second datum point at the lower part of the overhead line system strut, and arranging a third datum point at the upper part of the overhead line system strut; or

The second reference point is provided at the lower part of the special measurement support, and the third reference point is provided at the upper part of the special measurement support.

Further, the setting of the first reference point on one side of the rail running rail, and the setting of the second reference point and the third reference point ahead of the first reference point and on the other side of the rail in the rail extending direction, includes:

arranging a second reference point at the lower part of a contact net support column positioned at the other side of the track running rail, and arranging a third reference point at the upper part of the contact net support column; or

The second reference point is provided at a lower portion of a special measuring strut located at the other side of the track running rail, and the third reference point is provided at an upper portion of the special measuring strut.

Preferably, the second reference point and the third reference point are on the same vertical line, and the surface-shaped beam passing through the first reference point, the second reference point and the third reference point forms a vertical plane.

One implementation manner in which the point locations as the second reference point and the third reference point are arranged left and right includes:

setting the second reference point and the third reference point in front of the first reference point, and setting the third reference point to the left or right of the second reference point;

specifically, a first reference point is provided on one side of a rail running rail, and a second reference point and a third reference point are provided in front of the first reference point in the rail extending direction, so that the second reference point and the third reference point are located on the same side of the rail running rail and on different sides of the rail running rail from the first reference point; or

The first reference point is disposed on one side of the track running rail, the second reference point and the third reference point are disposed in front of the first reference point in the track extending direction, the second reference point and the third reference point are located on different sides of the track running rail, and the second reference point or the third reference point and the first reference point are located on the same side of the track running rail.

Further, the setting of the first reference point on one side of the rail running rail, the setting of the second reference point and the third reference point in front of the first reference point in the extending direction of the rail such that the second reference point and the third reference point are located on the same side of the rail running rail and on a different side of the rail running rail from the first reference point includes:

setting at least one of the second reference point and the third reference point at the CPIII control point; or

Disposing at least one of the second datum point and the third datum point at the catenary strut; or

At least one of the second reference point and the third reference point is provided at the ad hoc measuring strut.

Further, the setting of the first reference point on one side of the track running rail, the setting of the second reference point and the third reference point in front of the first reference point in the track extending direction, the positioning of the second reference point and the third reference point on different sides of the track running rail and the positioning of the second reference point or the third reference point on the same side of the track running rail as the first reference point, includes:

Preferably, the second reference point is on the same horizontal line as the third reference point, and the surface-shaped beam passing through the first reference point, the second reference point and the third reference point forms a horizontal plane.

As a specific application mode of the method and the system embodiment in road traffic, the first reference point, the second reference point and the third reference point are arranged as follows:

specifically, a first reference point is arranged at one side of the lane, and a second reference point and a third reference point are arranged in front of the first reference point and at the same side of the lane in the extending direction of the lane; or

The method comprises the steps of arranging a first reference point at one side of a lane, and arranging a second reference point and a third reference point at the front of the first reference point and at the other side of the lane along the extending direction of the lane; or

The first reference point is disposed above the lane, and the second reference point and the third reference point are disposed ahead of and above the first reference point in the lane extending direction.

Further, the setting the first reference point on one side of the lane, the setting the second reference point and the third reference point ahead of the first reference point in the extending direction of the lane and on the same side of the lane, includes:

setting the second reference point at the lower part of the street lamp support post, and setting the third reference point at the upper part of the street lamp support post; or

Further, the setting the first reference point on one side of the lane, the setting the second reference point and the third reference point ahead of the first reference point in the extending direction of the lane and on the other side of the lane includes:

arranging a second reference point at the lower part of the street lamp support column positioned at the other side of the lane, and arranging a third reference point at the upper part of the street lamp support column; or

The second reference point is provided at a lower portion of a special measuring strut located at the other side of the lane, and the third reference point is provided at an upper portion of the special measuring strut.

Specifically, the first reference point is disposed above the lane, and the second reference point and the third reference point are disposed ahead of and above the first reference point in the lane extending direction for forming an upright surface-shaped beam that irradiates the lane area from above the lane.

Further, the upright surface-shaped beam irradiated to the lane area from above the lane is used to detect the position within the lane area.

The method and the device provided by the embodiment of the invention can be completely or partially realized by using an electronic technology, a photoelectric detection technology and an automatic control technology; the method provided by the embodiment of the invention can be wholly or partially realized by software instructions and/or hardware circuits; the module or unit included in the device provided by the embodiment of the invention can be realized by adopting electronic components, an optical-electric/electric-magnetic conversion device and a driving/dragging motor.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

The invention provides a distance measuring method and a distance measuring device, which overcome at least one of the defects that total station measuring equipment is expensive and low in efficiency, a photogrammetry method needs a detection trolley, a sighting error is multiplied under the condition of longer distance, and the measuring efficiency and the measuring precision cannot be improved by means of an observation reference surface. Low cost, high precision, high efficiency and practicability.

Claims

1. An object position determination method, comprising:

determining the position of an object to be measured using the irradiation information of the planar laser beam and the distance acquired by the ranging laser beam;

a planar laser beam covering an observation reference surface, comprising:

the distance between the thickness dimension angle bisection plane and three reference points at different positions is respectively smaller than a planar laser beam of a preset reference surface error threshold, the observation reference surface is a plane passing through the three reference points at different positions, and the planar laser beam is a beam containing a linear beam element; or

The planar laser beam is a planar laser beam, the distances between a plane formed by a visual axis and a center line of a linear light spot of the beam in the length direction and three reference points at different positions are respectively smaller than a preset reference surface error threshold, the observation reference surface is a plane passing through the three reference points at different positions, and the planar laser beam is a beam containing linear beam elements;

wherein,

when there are two or three observation reference planes, one observation plane intersects with at least one other observation plane.

2. The method of claim 1, wherein,

a fixed or movable optical imaging sensor located in one plane of a two-dimensional measuring optical target is used to receive direct irradiation of a planar laser beam covering an observation reference plane from a predetermined neighborhood of the same observation reference plane, and an irradiation image of the planar laser beam in the plane is acquired.

3. The method of claim 1, wherein,

the observation ranging laser beam irradiation information includes:

Acquiring an irradiation spot of a ranging laser beam on a measuring light target by using an optical imaging sensor, and determining an irradiation position of the ranging laser beam on the measuring light target relative to a distance measuring point by using the irradiation spot;

the transmitting ranging laser beam includes:

4. The method of claim 1, wherein,

corresponding to a three-dimensional measuring optical target, using two parallel scattering planes of the measuring optical target or an active parallel surface pair including any one of a photodetector and an optical imaging sensor to receive an image of an irradiation spot obtained from irradiation of a planar laser beam covering the same observation reference plane from within a predetermined vicinity of the observation reference plane, determining a tangent plane of the observation reference plane facing the two parallel scattering planes or the active parallel surface pair, using a distance value of any one of a position reference point and a distance measurement point of an object to be measured with respect to the tangent plane as a distance value of the position reference point or the distance measurement point of the object to be measured with respect to the observation reference plane, and determining a distance from a ranging reference point to the distance measurement point using a distance obtained by a ranging laser beam.

5. The method of any of claims 1 to 4, further comprising at least one of the following steps:

wherein,

the first region is adjacent to or overlaps the second region;

the first and second planar laser beams use the same or different wavelengths.

6. An object position determination apparatus comprising:

a beam irradiation information and distance information processing module for determining the position of an object to be measured using the irradiation information of the planar laser beam and the distance acquired by the ranging laser beam; the data transmission device comprises at least one of a data processing sub-module and a data transmission sub-module;

a planar laser beam covering an observation reference surface, comprising:

wherein,

7. The apparatus of claim 6, wherein,

the reference plane laser beam irradiation information acquisition module for performing an operation of receiving irradiation information of a planar laser beam covering at least one observation reference plane from within a predetermined vicinity of the observation reference plane using any one of one-dimensional, two-dimensional, and three-dimensional measuring light targets,

8. The apparatus of claim 6, wherein,

the ranging laser beam module for performing an operation of observing irradiation information of a ranging laser beam or transmitting a ranging laser beam, wherein,

the observation ranging laser beam irradiation information includes:

the transmitting ranging laser beam includes:

9. The apparatus of claim 6, wherein,

the beam irradiation information and distance information processing module for performing an operation of determining a position of an object to be measured using irradiation information of the planar laser beam and a distance acquired by the ranging laser beam, includes:

10. The apparatus according to any one of claims 6 to 9, further comprising a movement and laser beam switching control module for performing at least one of the following operation steps:

wherein,

the first region is adjacent to or overlaps the second region;

the first and second planar laser beams use the same or different wavelengths.