CN109737913A - A kind of laser tracking attitude angle system and method - Google Patents
A kind of laser tracking attitude angle system and method Download PDFInfo
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Abstract
The embodiment of the invention provides a kind of laser to track attitude angle system and method, comprising: cooperative target, monocular vision measuring unit, laser tracking measurement unit and computing unit；Wherein, the cooperative target is fixed on measured object, and the monocular vision measuring unit and the laser tracking measurement unit are respectively fixedly disposed at predeterminated position；It is designed by the structure to cooperative target, it can be according to the two-dimensional coordinate for the hot spot that Two-dimensional PSD measurement obtains, it is accurate to obtain the three-dimensional coordinate of hot spot in the second coordinate system, further according to the identity of the corresponding space vector of laser beam, and the roll angle of the cooperative target for measuring and obtaining in the second coordinate system is obtained by monocular vision measuring unit, attitude angle of the cooperative target relative to the corresponding third coordinate system of three-dimension measuring system is calculated, obtain the attitude angle of measured object, the measuring system, which overcomes, exists in the prior art roll angular measurement low-response, the problems such as turnover rate is low.
Description
Technical Field
The embodiment of the invention relates to the technical field of precision measurement, in particular to a laser tracking attitude angle measurement system and method.
Background
The pose measurement in modern production and construction comprises spatial position measurement and attitude measurement, along with the development of measurement technology, high-precision and real-time attitude measurement is more and more commonly applied to the fields of large-scale construction engineering and high-precision equipment manufacturing, and has important influence on the improvement of production efficiency, manufacturing precision, construction rationality and construction safety in engineering construction and manufacturing.
The laser tracking target method has been developed rapidly in the long-term research process, and has the classical engineering implementation application at home and abroad. The Leica company is based on a T series six-degree-of-freedom measuring device developed by a laser tracker, and a high-speed camera fixed at the upper part of the laser tracker is matched with a plurality of infrared light-emitting diodes on a target unit to complete attitude angle measurement; an automatic guidance system developed by British ZED instrument company based on a total station is characterized in that attitude angle measurement of the automatic guidance system depends on a double-shaft inclinometer built in a target and a collimation laser additionally arranged on the total station; the shield tunneling machine attitude measurement is realized by utilizing the total station instrument to cooperate with a laser target consisting of a pinhole prism, an inclination angle sensor and a CCD camera at China high technology university, Shanghai traffic university, Tianjin university and the like.
At the present stage, the attitude angle is measured based on a laser tracking target method, wherein a measurement method of a pinhole prism, an inclination angle sensor and a CCD camera matched with a total station instrument replaces a vision-based laser tracker attitude measurement method, so that the measurement sensitivity of the system to a pitch angle and an azimuth angle is improved, but the dynamic measurement performance of the whole system is restricted by the problems of low response speed, low measurement update rate and the like caused by an inclinometer while the problem that a roll angle cannot be measured in the method is solved by a single/double-shaft inclinometer.
Disclosure of Invention
Embodiments of the present invention provide a laser tracking attitude angle measurement system and method that overcomes, or at least partially solves, the above-mentioned problems.
On one hand, the embodiment of the invention provides a laser tracking attitude angle measuring system, which comprises: the system comprises a cooperative target, a monocular vision measuring unit, a laser tracking measuring unit and a calculating unit; wherein,
the cooperative target is fixedly arranged on a measured object, and the monocular vision measuring unit and the laser tracking measuring unit are respectively and fixedly arranged at preset positions; the cooperative target comprises a two-dimensional PSD module, a pyramid prism and a plurality of characteristic targets; the two-dimensional PSD module comprises a two-dimensional PSD and a data processing sub-module, wherein a light transmission surface of the pyramid prism is parallel to a light sensing surface of the two-dimensional PSD, a preset distance is reserved between the vertex of the pyramid prism and the light sensing surface of the two-dimensional PSD, a light transmission hole is formed in the vertex of the pyramid prism, a laser beam emitted by the laser tracking and measuring unit passes through the light transmission surface of the pyramid prism and then is shot on the light sensing surface of the two-dimensional PSD through the light transmission hole to form light spots, the number of the plurality of characteristic targets is not less than 6, at least 3 first characteristic targets are arranged in the plurality of characteristic targets, and a plane formed by target points corresponding to the at least 3 first characteristic targets is parallel to the light sensing surface of the two-dimensional PSD;
the data processing submodule is used for acquiring the coordinates of the light spot in a first coordinate system; wherein the first coordinate system is a two-dimensional coordinate system on the light sensing surface;
the monocular vision measuring unit is used for acquiring the rolling angle of the cooperative target in a second coordinate system through the plurality of feature targets; the second coordinate system is a three-dimensional coordinate system with an origin coinciding with the vertex of the pyramid prism, the Z axis of the second coordinate system passes through the origin of the first coordinate system, and the Z axis of the second coordinate system is perpendicular to the photosensitive surface of the two-dimensional PSD;
the laser tracking measurement unit is used for acquiring the coordinates of the vertex of the pyramid prism in a third coordinate system; the third coordinate system is a measurement coordinate system of the laser tracking measurement unit;
the calculation unit is used for acquiring the coordinates of the light spot in the second coordinate system according to the coordinates of the light spot in the first coordinate system and the preset distance; acquiring a first space vector corresponding to the laser beam in a third coordinate system according to the coordinate of the vertex of the corner cube in the third coordinate system, and acquiring a second space vector corresponding to the laser beam in the second coordinate system according to the coordinate of the light spot in the second coordinate system; and acquiring the attitude angle of the cooperative target in the third coordinate system according to the first space vector, the second space vector and the rolling angle of the cooperative target in the second coordinate system, so as to obtain the attitude angle of the measured object.
Further, the laser tracking measurement unit is a laser tracker or a total station, and the camera in the monocular vision measurement unit is a CCD camera.
Further, a circular diaphragm is arranged on one side, close to the two-dimensional PSD, of the light hole.
Furthermore, an optical filter is arranged on the two-dimensional PSD light-sensitive surface.
Further, the number of the plurality of feature targets is at least 6, and each feature target is made of a strong reflection material or an infrared LED.
In another aspect, an embodiment of the present invention provides a method for measuring an attitude angle by using the laser tracking attitude angle measurement system, including:
fixedly arranging the cooperative target on a measured object, and fixedly arranging the monocular vision measuring unit and the laser tracking measuring unit at preset positions respectively;
acquiring coordinates of the light spot in a first coordinate system by using the data processing submodule, acquiring a rolling angle of the cooperative target in a second coordinate system by using the monocular vision measuring unit through the plurality of feature targets, and acquiring coordinates of a vertex of the pyramid prism in a third coordinate system by using the laser tracking measuring unit;
acquiring the coordinates of the light spot in the second coordinate system according to the coordinates of the light spot in the first coordinate system and the preset distance;
acquiring a first space vector corresponding to the laser beam in a third coordinate system according to the coordinate of the vertex of the corner cube in the third coordinate system, and acquiring a second space vector corresponding to the laser beam in the second coordinate system according to the coordinate of the light spot in the second coordinate system;
and acquiring the attitude angle of the cooperative target in the third coordinate system according to the first space vector, the second space vector and the rolling angle of the cooperative target in the second coordinate system, so as to obtain the attitude angle of the measured object.
Further, the acquiring, by the monocular vision measuring unit, the rolling angle of the cooperative target in the second coordinate system through the plurality of feature targets specifically includes:
before attitude angle measurement, acquiring first images of the plurality of characteristic targets of the cooperative target in a horizontal state by using a camera of the monocular vision unit, and acquiring second images of the plurality of characteristic targets by using the camera of the monocular vision unit during attitude angle measurement;
respectively processing the first image and the second image by using a preset image processing algorithm to obtain first posture information and second posture information corresponding to the plurality of feature targets;
and comparing the first posture information with the second posture information to obtain the rolling angle of the cooperation target in the second coordinate system.
Further, the obtaining the coordinates of the light spot in the second coordinate system according to the coordinates of the light spot in the first coordinate system and the preset distance specifically includes:
and respectively taking the abscissa and the ordinate of the light spot in the first coordinate system as the abscissa and the ordinate of the light spot in the second coordinate system, and taking the preset distance as the Z-axis coordinate of the light spot, so as to obtain the coordinate of the light spot in the second coordinate system.
Further, the obtaining a first spatial vector of the laser beam in a third coordinate system according to a coordinate of a vertex of the corner cube in the third coordinate system, and obtaining a second spatial vector of the laser beam in the second coordinate system according to a coordinate of the spot in the second coordinate system specifically includes:
taking the origin of the third coordinate system as a starting point and the vertex of the corner cube prism as an end point, and acquiring the first space vector; and taking the origin of the second coordinate system as a starting point and the light spot as an end point to acquire the second space vector.
Further, the obtaining an attitude angle of the cooperative target in the third coordinate system according to the first space vector, the second space vector, and a rolling angle of the cooperative target in the second coordinate system specifically includes:
respectively carrying out normalization processing on the first space vector and the second space vector to obtain a first unit vector and a second unit vector;
and acquiring the attitude angle of the second coordinate system relative to the third coordinate system according to an Euler transformation formula between the first unit vector and the second unit vector and the rolling angle of the cooperative target in the second coordinate system, so as to obtain the attitude angle of the cooperative target in the third coordinate system.
The embodiment of the invention provides a laser tracking attitude angle measuring system and method, which can accurately acquire the three-dimensional coordinates of a light spot in a second coordinate system according to the two-dimensional coordinates of the light spot obtained by two-dimensional PSD measurement by designing the structure of a cooperative target, and then according to the identity of the space vector corresponding to a laser beam, and obtaining the rolling angle of the measured cooperative target in the second coordinate system through the monocular vision measuring unit, calculating to obtain the attitude angle of the cooperative target relative to a third coordinate system corresponding to the three-dimensional measuring system, namely the attitude angle of the measured object, the measuring system and the method are used for solving the problems of slow response, low update rate and the like of the roll angle measurement in the practical application of realizing the attitude angle measurement based on the laser tracking target method in the prior art, meanwhile, the problem of error increase caused by the loss of the depth information of the feature image in the traditional monocular vision attitude angle measurement method is solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a laser tracking attitude angle measurement system according to an embodiment of the present invention;
FIG. 2 is a top view of a collaboration target provided by an embodiment of the present invention;
FIG. 3 is a sectional view taken along A-A of the cooperative target shown in FIG. 2;
fig. 4 is a flowchart of a method for performing attitude angle measurement by using the laser tracking attitude angle measurement system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments, but not all embodiments, of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic structural diagram of a laser tracking attitude angle measurement system according to an embodiment of the present invention, as shown in fig. 1, including: the system comprises a cooperative target 1, a monocular vision measuring unit 2, a laser tracking measuring unit 3 and a calculating unit 4; wherein,
the cooperative target 1 is fixedly arranged on a measured object, and the monocular vision measuring unit 2 and the laser tracking measuring unit 3 are respectively and fixedly arranged at preset positions; as shown in fig. 2-3, the cooperative target 1 includes a two-dimensional PSD module 11, a corner cube 12, and a plurality of feature targets 13; two-dimensional PSD module 11 includes two-dimensional PSD and data processing submodule, the light-transmitting surface of pyramid prism 12 with two-dimensional PSD's photosurface is parallel, just the summit of pyramid prism 12 with two-dimensional PSD's photosurface is apart from the setting of default distance, the summit department of pyramid prism 12 opens the light-transmitting hole, the laser beam that laser tracking measuring unit 3 sent is through behind the light-transmitting surface of pyramid prism 12 rethread the light-transmitting hole is beaten and is formed the facula on two-dimensional PSD's photosurface, a plurality of characteristic targets 13's quantity is no less than 6, have 3 at least first characteristic targets in a plurality of characteristic targets 13, and the plane that the target point that 3 at least first characteristic targets correspond constitutes with two-dimensional PSD's photosurface is parallel.
The cooperative target 1 is fixedly arranged on a measured object and moves along with the measured object, and the attitude angle of the cooperative target is the attitude angle of the measured object. The monocular vision measuring unit 2 and the laser tracking measuring unit 3 are fixedly arranged at preset positions during measurement, and the preset positions can be set according to actual requirements and are not limited herein.
The plane formed by the target points corresponding to the at least 3 first characteristic targets is parallel to the photosensitive surface of the two-dimensional PSD, that is, the target points corresponding to the at least 6 characteristic targets are not necessarily on the same plane, but only the target points corresponding to the three characteristic targets are on the same plane, and the plane is parallel to the photosensitive surface of the two-dimensional PSD.
Specifically, during measurement, the laser tracking measurement unit 3 emits a laser beam to the cooperative target 1, the laser beam passes through the light transmission surface of the corner cube 12, then part of the laser beam returns along the original path at the vertex of the corner cube 12, and part of the laser beam passes through the light transmission hole at the vertex and is projected on the photosensitive surface of the two-dimensional PSD to form a light spot. Meanwhile, the camera of the monocular vision measuring unit 2 may perform image acquisition on a plurality of feature targets 13.
The data processing submodule is used for acquiring the coordinates of the light spot in a first coordinate system; wherein the first coordinate system is a two-dimensional coordinate system on the light sensing surface;
the monocular vision measuring unit is used for acquiring the rolling angle of the cooperative target in a second coordinate system through the plurality of feature targets; the second coordinate system is a three-dimensional coordinate system with an origin coinciding with the vertex of the corner cube prism, and the Z axis of the second coordinate system passes through the origin of the first coordinate system;
the laser tracking measurement unit is used for acquiring the coordinates of the vertex of the pyramid prism in a third coordinate system; the third coordinate system is a measurement coordinate system of the laser tracking measurement unit;
the calculation unit is used for acquiring the coordinates of the light spot in the second coordinate system according to the coordinates of the light spot in the first coordinate system and the preset distance; acquiring a first space vector corresponding to the laser beam in a third coordinate system according to the coordinate of the vertex of the corner cube in the third coordinate system, and acquiring a second space vector corresponding to the laser beam in the second coordinate system according to the coordinate of the light spot in the second coordinate system; and acquiring the attitude angle of the cooperative target in the third coordinate system according to the first space vector, the second space vector and the rolling angle of the cooperative target in the second coordinate system, so as to obtain the attitude angle of the measured object.
The first coordinate system can be understood as an internal coordinate system of the two-dimensional PSD photosensitive surface, and the coordinates of the light spot on the first coordinate system can be directly read through the data processing submodule. The second coordinate system can be understood as a coordinate system corresponding to the cooperative target, and when the cooperative target moves (i.e. the measured object moves), the second coordinate system also moves correspondingly along with the cooperative target, so that the attitude angle of the second coordinate system relative to the third coordinate system is the attitude angle of the cooperative target in the third coordinate system. The space vector corresponding to the laser beam emitted by the laser tracking measurement unit 3 can be represented by a point in the third coordinate system, and can also be represented by a point in the second coordinate system, namely the second space vector and the third space vector, the normalized unit vectors of the second space vector and the third space vector are different expression forms of the same vector, and according to the relationship, when the transformation relationship between the first space vector and the second space vector is obtained, the attitude angle of the second coordinate system relative to the third coordinate system can be obtained, and further the attitude angle of the cooperation target in the third coordinate system can be obtained.
Specifically, the coordinates of the light spot in a second coordinate system are obtained according to the coordinates of the light spot in a first coordinate system and a preset distance; acquiring a first space vector corresponding to the laser beam in the third coordinate system according to the coordinate of the vertex of the pyramid prism in the third coordinate system, and acquiring a second space vector corresponding to the laser beam in the second coordinate system according to the coordinate of the light spot in the second coordinate system; and acquiring the attitude angle of the cooperative target in a third coordinate system according to the first space vector, the second space vector and the rolling angle of the cooperative target in the second coordinate system, so as to obtain the attitude angle of the measured object.
The embodiment of the invention provides a laser tracking attitude angle measuring system, which can accurately acquire a three-dimensional coordinate of a light spot in a second coordinate system according to a two-dimensional coordinate of the light spot obtained by two-dimensional PSD measurement by designing a structure of a working target, then acquire a rolling angle of the working target in the second coordinate system obtained by measurement through a monocular vision measuring unit according to the identity of a space vector corresponding to a laser beam, and calculate an attitude angle of the working target relative to a third coordinate system corresponding to the three-dimensional measuring system to obtain an attitude angle of a measured object.
In the above embodiment, the laser tracking measurement unit is a laser tracker or a total station, and the camera in the monocular vision measurement unit is a CCD camera.
Specifically, the laser tracking measurement unit is a laser tracker or a total station, and can be selected according to the precision requirement during actual measurement.
In the above embodiment, a circular diaphragm is disposed on one side of the light-transmitting hole close to the two-dimensional PSD.
Specifically, the diffraction phenomenon can be weakened by arranging a circular diaphragm on one side of the light-transmitting hole close to the two-dimensional PSD.
In the above embodiment, a filter is disposed on the two-dimensional PSD light sensing surface.
Specifically, the filter is arranged on the two-dimensional PSD photosensitive surface, so that interference of natural light on data stability can be reduced.
In the above embodiment, the number of the plurality of feature targets is at least 6, and each feature target is made of a strong reflective material or an infrared LED.
Fig. 4 is a flowchart of a method for performing attitude angle measurement by using the laser tracking attitude angle measurement system according to an embodiment of the present invention, and as shown in fig. 4, the method includes:
s401, fixedly arranging the cooperative target on a measured object, and fixedly arranging the monocular vision measuring unit and the laser tracking measuring unit at preset positions respectively;
s402, acquiring coordinates of the light spot in a first coordinate system by using the data processing submodule, acquiring a rolling angle of the cooperative target in a second coordinate system by using the monocular vision measuring unit through the plurality of feature targets, and acquiring coordinates of a vertex of the pyramid prism in a third coordinate system by using the laser tracking measuring unit;
s403, acquiring the coordinates of the light spot in the second coordinate system according to the coordinates of the light spot in the first coordinate system and the preset distance;
s404, acquiring a first space vector corresponding to the laser beam in a third coordinate system according to the coordinate of the vertex of the corner cube in the third coordinate system, and acquiring a second space vector corresponding to the laser beam in the second coordinate system according to the coordinate of the light spot in the second coordinate system;
s405, acquiring the attitude angle of the cooperative target in the third coordinate system according to the first space vector, the second space vector and the rolling angle of the cooperative target in the second coordinate system, and obtaining the attitude angle of the measured object.
In step S401, the cooperative target is fixedly disposed on the measured object and moves along with the measured object, and the attitude angle of the cooperative target is the attitude angle of the measured object. The monocular vision measuring unit and the laser tracking measuring unit are fixedly arranged at preset positions during measurement, and the preset positions can be set according to actual requirements without limitation.
In steps S402-S405, the first coordinate system may be understood as an internal coordinate system of the two-dimensional PSD light-sensing surface, and the coordinates of the light spot thereon in the first coordinate system may be directly read by the data processing sub-module. The second coordinate system can be understood as a coordinate system corresponding to the cooperative target, and when the cooperative target moves (i.e. the measured object moves), the second coordinate system also moves correspondingly along with the cooperative target, so that the attitude angle of the second coordinate system relative to the third coordinate system is the attitude angle of the cooperative target in the third coordinate system. The space vector corresponding to the laser beam emitted by the laser tracking measurement unit can be represented by points in a third coordinate system, and can also be represented by points in a second coordinate system, namely a second space vector and a third space vector, the normalized unit vectors of the second space vector and the third space vector are different expression forms of the same vector, and according to the relationship, when the transformation relationship between the first space vector and the second space vector is obtained, the attitude angle of the second coordinate system relative to the third coordinate system can be obtained, and further the attitude angle of the cooperation target in the third coordinate system can be obtained.
The embodiment of the invention provides an attitude angle measuring method, which is characterized in that by designing the structure of a cooperative target, the three-dimensional coordinates of a light spot in a second coordinate system can be accurately obtained according to the two-dimensional coordinates of the light spot obtained by two-dimensional PSD measurement, then the rolling angle of the cooperative target in the second coordinate system obtained by measurement is obtained through a monocular vision measuring unit according to the identity of a space vector corresponding to a laser beam, and the attitude angle of the cooperative target relative to a third coordinate system corresponding to a three-dimensional measuring system is obtained through calculation, so that the attitude angle of a measured object is obtained.
In the above embodiment, the obtaining, by the monocular vision measuring unit, the rolling angle of the cooperative target in the second coordinate system through the plurality of feature targets specifically includes:
before attitude angle measurement, acquiring first images of the plurality of characteristic targets of the cooperative target in a horizontal state by using a camera of the monocular vision unit, and acquiring second images of the plurality of characteristic targets by using the camera of the monocular vision unit during attitude angle measurement;
respectively processing the first image and the second image by using a preset image processing algorithm to obtain first posture information and second posture information corresponding to the plurality of feature targets;
and comparing the first posture information with the second posture information to obtain the rolling angle of the cooperation target in the second coordinate system.
Before the attitude angle measurement, when the cooperative target is in a horizontal state, the rotation angle of the cooperative target relative to the third coordinate system is 0.
Specifically, the preset processing algorithm in monocular vision measurement may be understood as the prior art, and will not be described herein.
In the above embodiment, the obtaining the coordinates of the light spot in the second coordinate system according to the coordinates of the light spot in the first coordinate system and the preset distance specifically includes:
and respectively taking the abscissa and the ordinate of the light spot in the first coordinate system as the abscissa and the ordinate of the light spot in the second coordinate system, and taking the preset distance as the Z-axis coordinate of the light spot, so as to obtain the coordinate of the light spot in the second coordinate system.
Specifically, since the Z axis of the second coordinate system passes through the origin of the first coordinate system and is perpendicular to the photosensitive surface of the two-dimensional PSD, the abscissa and ordinate of the light spot in the first coordinate system are the same as those in the second coordinate system. Meanwhile, the vertex of the pyramid prism and the photosensitive surface of the two-dimensional PSD are arranged at a preset distance, so that the Z-axis coordinate value of the light spot can be known to be equal to the preset distance.
The preset distance may be determined according to an angle epsilon of the movement of the measured object relative to the third coordinate system, and the specific calculation formula is as follows:
wherein h is a preset distance, and L is the side length of the two-dimensional PSD photosensitive surface.
In the above embodiment, the obtaining a first spatial vector of the laser beam in a third coordinate system according to the coordinates of the vertex of the corner cube in the third coordinate system, and obtaining a second spatial vector of the laser beam in the second coordinate system according to the coordinates of the spot in the second coordinate system specifically includes:
taking the origin of the third coordinate system as a starting point and the vertex of the corner cube prism as an end point, and acquiring the first space vector; and taking the origin of the second coordinate system as a starting point and the light spot as an end point to acquire the second space vector.
Specifically, the coordinate value of the first space vector may be calculated according to the coordinate value of the origin of the third coordinate system and the coordinate value of the vertex of the corner cube in the third coordinate system. Similarly, the coordinate value of the second space vector can be calculated according to the origin of the second coordinate system and the coordinate value of the light spot in the second coordinate system.
In the above embodiment, the obtaining an attitude angle of the cooperative target in the third coordinate system according to the first space vector, the second space vector, and a rolling angle of the cooperative target in the second coordinate system specifically includes:
respectively carrying out normalization processing on the first space vector and the second space vector to obtain a first unit vector and a second unit vector;
and acquiring the attitude angle of the second coordinate system relative to the third coordinate system according to an Euler transformation formula between the first unit vector and the second unit vector and the rolling angle of the cooperative target in the second coordinate system, so as to obtain the attitude angle of the cooperative target in the third coordinate system.
Specifically, a first space vector O is obtained according to actual measurement conditions3O2A second space vector O2P, and further normalized to obtain a first unit directionMeasurement ofSecond unit vectorWhen the euler transform is performed on the first unit vector and the second unit vector, the specific calculation formula is as follows:
Rr＝R(x,σ)R(y,τ)R(z,ω)
wherein, sigma, tau and omega represent that the second coordinate system rotates a sigma angle around the X axis of the second coordinate system, the rotated coordinate system rotates a tau angle around the Y axis of the second coordinate system, and the rotated coordinate system rotates a omega angle around the Z axis of the second coordinate system; rrA right-multiplied rotation matrix transformed by the second coordinate system relative to the third coordinate system; rr TIs RrThe transposed matrix of (2);a left-multiplication rotation matrix transformed by the second coordinate system relative to the third coordinate system;
when the attitude angle α, γ in the third coordinate system is calculated, the specific calculation formula is as follows:
finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A laser tracking attitude angle measurement system, comprising: the system comprises a cooperative target, a monocular vision measuring unit, a laser tracking measuring unit and a calculating unit; wherein,
the cooperative target is fixedly arranged on a measured object, and the monocular vision measuring unit and the laser tracking measuring unit are respectively and fixedly arranged at preset positions; the cooperative target comprises a two-dimensional PSD module, a pyramid prism and a plurality of characteristic targets; the two-dimensional PSD module comprises a two-dimensional PSD and a data processing sub-module, wherein a light transmission surface of the pyramid prism is parallel to a light sensing surface of the two-dimensional PSD, a preset distance is reserved between the vertex of the pyramid prism and the light sensing surface of the two-dimensional PSD, a light transmission hole is formed in the vertex of the pyramid prism, a laser beam emitted by the laser tracking and measuring unit passes through the light transmission surface of the pyramid prism and then is shot on the light sensing surface of the two-dimensional PSD through the light transmission hole to form light spots, the number of the plurality of characteristic targets is not less than 6, at least 3 first characteristic targets are arranged in the plurality of characteristic targets, and a plane formed by target points corresponding to the at least 3 first characteristic targets is parallel to the light sensing surface of the two-dimensional PSD;
the data processing submodule is used for acquiring the coordinates of the light spot in a first coordinate system; wherein the first coordinate system is a two-dimensional coordinate system on the light sensing surface;
the monocular vision measuring unit is used for acquiring the rolling angle of the cooperative target in a second coordinate system through the plurality of feature targets; the second coordinate system is a three-dimensional coordinate system with an origin coinciding with the vertex of the pyramid prism, the Z axis of the second coordinate system passes through the origin of the first coordinate system, and the Z axis of the second coordinate system is perpendicular to the photosensitive surface of the two-dimensional PSD;
the laser tracking measurement unit is used for acquiring the coordinates of the vertex of the pyramid prism in a third coordinate system; the third coordinate system is a measurement coordinate system of the laser tracking measurement unit;
the calculation unit is used for acquiring the coordinates of the light spot in the second coordinate system according to the coordinates of the light spot in the first coordinate system and the preset distance; acquiring a first space vector corresponding to the laser beam in a third coordinate system according to the coordinate of the vertex of the corner cube in the third coordinate system, and acquiring a second space vector corresponding to the laser beam in the second coordinate system according to the coordinate of the light spot in the second coordinate system; and acquiring the attitude angle of the cooperative target in the third coordinate system according to the first space vector, the second space vector and the rolling angle of the cooperative target in the second coordinate system, so as to obtain the attitude angle of the measured object.
2. The laser tracking attitude angle measurement system of claim 1, wherein the laser tracking measurement unit is a laser tracker or a total station, and the camera in the monocular vision measurement unit is a CCD camera.
3. The laser tracking attitude angle measurement system according to claim 1, wherein a circular diaphragm is disposed on a side of the light-transmitting hole close to the two-dimensional PSD.
4. The laser tracking attitude angle measurement system according to claim 1, wherein an optical filter is disposed on the two-dimensional PSD photosensitive surface.
5. The laser tracking attitude angle measurement system of claim 1, wherein the number of the plurality of feature targets is at least 6, and each feature target is made of a strong reflective material or an infrared LED.
6. A method for performing attitude angle measurement using the laser tracking attitude angle measurement system according to any one of claims 1 to 5, comprising:
fixedly arranging the cooperative target on a measured object, and fixedly arranging the monocular vision measuring unit and the laser tracking measuring unit at preset positions respectively;
acquiring coordinates of the light spot in a first coordinate system by using the data processing submodule, acquiring a rolling angle of the cooperative target in a second coordinate system by using the monocular vision measuring unit through the plurality of feature targets, and acquiring coordinates of a vertex of the pyramid prism in a third coordinate system by using the laser tracking measuring unit;
acquiring the coordinates of the light spot in the second coordinate system according to the coordinates of the light spot in the first coordinate system and the preset distance;
acquiring a first space vector corresponding to the laser beam in a third coordinate system according to the coordinate of the vertex of the corner cube in the third coordinate system, and acquiring a second space vector corresponding to the laser beam in the second coordinate system according to the coordinate of the light spot in the second coordinate system;
and acquiring the attitude angle of the cooperative target in the third coordinate system according to the first space vector, the second space vector and the rolling angle of the cooperative target in the second coordinate system, so as to obtain the attitude angle of the measured object.
7. The method according to claim 6, wherein the obtaining, by the monocular vision measuring unit, the rolling angle of the cooperative target in the second coordinate system through the plurality of feature targets specifically comprises:
before attitude angle measurement, acquiring first images of the plurality of characteristic targets of the cooperative target in a horizontal state by using a camera of the monocular vision unit, and acquiring second images of the plurality of characteristic targets by using the camera of the monocular vision unit during attitude angle measurement;
respectively processing the first image and the second image by using a preset image processing algorithm to obtain first posture information and second posture information corresponding to the plurality of feature targets;
and comparing the first posture information with the second posture information to obtain the rolling angle of the cooperation target in the second coordinate system.
8. The method according to claim 6, wherein the obtaining the coordinates of the light spot in the second coordinate system according to the coordinates of the light spot in the first coordinate system and the preset distance comprises:
and respectively taking the abscissa and the ordinate of the light spot in the first coordinate system as the abscissa and the ordinate of the light spot in the second coordinate system, and taking the preset distance as the Z-axis coordinate of the light spot, so as to obtain the coordinate of the light spot in the second coordinate system.
9. The method according to claim 6, wherein the obtaining a first spatial vector corresponding to the laser beam in a third coordinate system according to the coordinates of the vertex of the corner cube in the third coordinate system, and obtaining a second spatial vector corresponding to the laser beam in the second coordinate system according to the coordinates of the spot in the second coordinate system, specifically comprises:
taking the origin of the third coordinate system as a starting point and the vertex of the corner cube prism as an end point, and acquiring the first space vector; and taking the origin of the second coordinate system as a starting point and the light spot as an end point to acquire the second space vector.
10. The method according to claim 6, wherein the obtaining the attitude angle of the cooperative target in the third coordinate system according to the first spatial vector, the second spatial vector and the rolling angle of the cooperative target in the second coordinate system comprises:
respectively carrying out normalization processing on the first space vector and the second space vector to obtain a first unit vector and a second unit vector;
and acquiring the attitude angle of the second coordinate system relative to the third coordinate system according to an Euler transformation formula between the first unit vector and the second unit vector and the rolling angle of the cooperative target in the second coordinate system, so as to obtain the attitude angle of the cooperative target in the third coordinate system.
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