CN109737913A - A laser tracking attitude angle measurement system and method - Google Patents
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Abstract
Description
技术领域technical field
本发明实施例涉及精密测量技术领域，更具体地，涉及一种激光跟踪姿态角测量系统及方法。Embodiments of the present invention relate to the technical field of precision measurement, and more particularly, to a laser tracking attitude angle measurement system and method.
背景技术Background technique
现代生产及建设中的位姿测量包含空间位置测量以及姿态测量，随着测量技术的发展，高精度、实时性姿态测量越来越普遍的应用于大型建造工程以及高精密设备制造领域，在工程建设及制造中对于提高生产效率、制造精度、施工合理性以及建设安全性有着重要影响。Pose measurement in modern production and construction includes spatial position measurement and attitude measurement. With the development of measurement technology, high-precision, real-time attitude measurement is more and more widely used in large-scale construction projects and high-precision equipment manufacturing. Construction and manufacturing have an important impact on improving production efficiency, manufacturing accuracy, construction rationality and construction safety.
激光跟踪靶标法在长期的研究进程中取得了迅猛的发展，于国内外都有经典的工程实施应用。Leica公司基于激光跟踪仪开发的T系列六自由度测量装置，由固定于激光跟踪仪上部的高速相机配合目标单元上多个红外发光二极管完成姿态角测量；英国ZED仪器公司基于全站仪开发的自动导向系统，其姿态角测量依靠标靶内置的双轴倾角仪以及全站仪上额外安装的准直激光器；国内华中科技大学、上海交通大学、天津大学等利用全站仪配合由针孔棱镜、倾角传感器和CCD相机组成的激光靶标实现盾构机姿态测量。The laser tracking target method has achieved rapid development in the long-term research process, and has classic engineering implementation applications at home and abroad. The T-series six-degree-of-freedom measurement device developed by Leica based on the laser tracker is composed of a high-speed camera fixed on the upper part of the laser tracker and multiple infrared light-emitting diodes on the target unit to complete the attitude angle measurement; the British ZED Instrument Company developed the device based on the total station. The automatic guidance system, its attitude angle measurement relies on the built-in dual-axis inclinometer of the target and the collimated laser additionally installed on the total station; domestic Huazhong University of Science and Technology, Shanghai Jiaotong University, Tianjin University, etc. use the total station to cooperate with the pinhole prism. The laser target composed of , inclination sensor and CCD camera realizes the attitude measurement of the shield machine.
现阶段基于激光跟踪靶标法实现姿态角的测量，其中以针孔棱镜、倾角传感器和CCD相机配合全站仪的测量方法替代了基于视觉的激光跟踪仪姿态测量法，提高了系统对俯仰角和方位角的测量灵敏度，但是以单/双轴倾角仪弥补该方法中横滚角无法测量问题的同时，由倾角仪带来的响应速度慢、测量更新率低等问题制约了整个系统的动态测量性能。At this stage, the attitude angle measurement is realized based on the laser tracking target method. The measurement method of pinhole prism, inclination sensor and CCD camera combined with the total station replaces the vision-based laser tracker attitude measurement method, which improves the system's ability to measure the pitch angle and The measurement sensitivity of the azimuth angle, but the single/dual-axis inclinometer makes up for the problem that the roll angle cannot be measured in this method. At the same time, the slow response speed and low measurement update rate brought by the inclinometer restrict the dynamic measurement of the entire system. performance.
发明内容SUMMARY OF THE INVENTION
本发明实施例提供了一种克服上述问题或者至少部分地解决上述问题的激光跟踪姿态角测量系统及方法。Embodiments of the present invention provide a laser tracking attitude angle measurement system and method for overcoming the above problems or at least partially solving the above problems.
一方面本发明实施例提供了一种激光跟踪姿态角测量系统，包括：合作目标、单目视觉测量单元、激光跟踪测量单元以及计算单元；其中，On the one hand, an embodiment of the present invention provides a laser tracking attitude angle measurement system, including: a cooperative target, a monocular vision measurement unit, a laser tracking measurement unit, and a computing unit; wherein,
所述合作目标固定设置在被测物上，所述单目视觉测量单元和所述激光跟踪测量单元分别固定设置在预设位置；所述合作目标包括二维PSD模块、角锥棱镜以及多个特征靶标；所述二维PSD模块包括二维PSD和数据处理子模块，所述角锥棱镜的透光面与所述二维PSD的感光面平行，且所述角锥棱镜的顶点与所述二维PSD的感光面相距预设距离设置，所述角锥棱镜的顶点处开有透光孔，所述激光跟踪测量单元发射的激光束经所述角锥棱镜的透光面后再通过所述透光孔打在所述二维PSD的感光面上形成光斑，所述多个特征靶标的数量不少于6个，所述多个特征靶标中有至少3个第一特征靶标，且所述至少3个第一特征靶标对应的靶标点构成的平面与所述二维PSD的感光面平行；The cooperative target is fixedly arranged on the measured object, and the monocular vision measurement unit and the laser tracking measurement unit are respectively fixed and arranged at preset positions; the cooperative target includes a two-dimensional PSD module, a corner prism, and a plurality of A feature target; the two-dimensional PSD module includes a two-dimensional PSD and a data processing sub-module, the light-transmitting surface of the corner cube is parallel to the photosensitive surface of the two-dimensional PSD, and the vertex of the corner cube is parallel to the The photosensitive surfaces of the two-dimensional PSD are set at a preset distance, a light-transmitting hole is opened at the apex of the corner prism, and the laser beam emitted by the laser tracking and measuring unit passes through the light-transmitting surface of the corner prism and then passes through the corner prism. The light-transmitting hole is punched on the photosensitive surface of the two-dimensional PSD to form a light spot, the number of the plurality of characteristic targets is not less than 6, and there are at least 3 first characteristic targets in the plurality of characteristic targets, and all The plane formed by the target points corresponding to the at least three first characteristic targets is parallel to the photosensitive surface of the two-dimensional PSD;
所述数据处理子模块用于获取所述光斑在第一坐标系中的坐标；其中，所述第一坐标系为处在所述感光面上的二维坐标系；The data processing sub-module is used to obtain the coordinates of the light spot in a first coordinate system; wherein, the first coordinate system is a two-dimensional coordinate system on the photosensitive surface;
所述单目视觉测量单元用于通过所述多个特征靶标获取所述合作目标在第二坐标系中的滚动角度；其中，所述第二坐标系为原点与所述角锥棱镜的顶点重合的三维坐标系，且所述第二坐标系的Z轴通过所述第一坐标系的原点，所述第二坐标系的Z轴垂直于所述二维PSD的感光面；The monocular vision measurement unit is used to obtain the rolling angle of the cooperative target in the second coordinate system through the plurality of characteristic targets; wherein, the second coordinate system is that the origin coincides with the vertex of the corner cube and 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;
所述激光跟踪测量单元用于获取所述角锥棱镜的顶点在第三坐标系中的坐标；其中，所述第三坐标系为所述激光跟踪测量单元的测量坐标系；The laser tracking measurement unit is used to obtain the coordinates of the vertex of the corner cube in a third coordinate system; wherein, the third coordinate system is the measurement coordinate system of the laser tracking measurement unit;
所述计算单元用于根据所述光斑在第一坐标系中的坐标和所述预设距离，获取所述光斑在所述第二坐标系中的坐标；根据所述角锥棱镜的顶点在第三坐标系中的坐标，获取所述激光束在所述第三坐标系中对应的第一空间向量，根据所述光斑在所述第二坐标系中的坐标，获取所述激光束在所述第二坐标系中对应的第二空间向量；根据所述第一空间向量、所述第二空间向量以及所述合作目标在第二坐标系中的滚动角度，获取所述合作目标在所述第三坐标系的姿态角，即得到所述被测物的姿态角。The calculation unit is configured to obtain 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; The coordinates in the three coordinate system, obtain the first space vector corresponding to the laser beam in the third coordinate system, and obtain the coordinates of the laser beam in the second coordinate system according to the coordinates of the light spot in the second coordinate system. the corresponding second space vector in the second coordinate system; according to the first space vector, the second space vector and the rolling angle of the cooperation target in the second coordinate system, obtain the The attitude angle of the three-coordinate system, that is, the attitude angle of the measured object is obtained.
进一步地，所述激光跟踪测量单元为激光跟踪仪或全站仪，所述单目视觉测量单元中的相机为CCD相机。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.
进一步地，在所述透光孔靠近所述二维PSD的一侧设置有圆形光阑。Further, a circular diaphragm is arranged on the side of the light-transmitting hole close to the two-dimensional PSD.
进一步地，在所述二维PSD感光面上设置有滤光片。Further, a filter is arranged on the two-dimensional PSD photosensitive surface.
进一步地，所述多个特征靶标的数量至少为6个，且每个特征靶标由强反射材料或红外LED制成。Further, the number of the plurality of characteristic targets is at least 6, and each characteristic target is made of a strong reflective material or an infrared LED.
另一方面本发明实施例提供了一种利用上述激光跟踪姿态角测量系统进行姿态角测量的方法，包括：On the other hand, an embodiment of the present invention provides a method for measuring an attitude angle by using the above-mentioned laser tracking attitude angle measurement system, including:
将所述合作目标固定设置在被测物上，并将所述单目视觉测量单元和所述激光跟踪测量单元分别固定设置在预设位置；Fixing the cooperation target on the measured object, and fixing the monocular vision measurement unit and the laser tracking measurement unit at preset positions respectively;
利用所述数据处理子模块获取所述光斑在第一坐标系中的坐标，利用所述单目视觉测量单元通过所述多个特征靶标获取所述合作目标在第二坐标系中的滚动角度，利用所述激光跟踪测量单元获取所述角锥棱镜的顶点在第三坐标系中的坐标；Use the data processing sub-module to obtain the coordinates of the light spot in the first coordinate system, and use the monocular vision measurement unit to obtain the rolling angle of the cooperative target in the second coordinate system through the plurality of characteristic targets, Using the laser tracking measurement unit to obtain the coordinates of the vertex of the corner cube in the third coordinate system;
根据所述光斑在第一坐标系中的坐标和所述预设距离，获取所述光斑在所述第二坐标系中的坐标；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;
根据所述角锥棱镜的顶点在第三坐标系中的坐标，获取所述激光束在所述第三坐标系中对应的第一空间向量，根据所述光斑在所述第二坐标系中的坐标，获取所述激光束在所述第二坐标系中对应的第二空间向量；According to the coordinates of the vertex of the corner cube in the third coordinate system, the first space vector corresponding to the laser beam in the third coordinate system is obtained, and according to the coordinates of the light spot in the second coordinate system coordinates, and obtain the second space vector corresponding to the laser beam in the second coordinate system;
根据所述第一空间向量、所述第二空间向量以及所述合作目标在第二坐标系中的滚动角度，获取所述合作目标在所述第三坐标系的姿态角，即得到所述被测物的姿态角。According to the first space vector, the second space vector and the rolling angle of the cooperative target in the second coordinate system, the attitude angle of the cooperative target in the third coordinate system is obtained, that is, the target object is obtained. The attitude angle of the object to be measured.
进一步地，所述利用所述单目视觉测量单元通过所述多个特征靶标获取所述合作目标在第二坐标系中的滚动角度，具体包括：Further, the use of the monocular vision measurement unit to obtain the rolling angle of the cooperative target in the second coordinate system through the plurality of characteristic targets specifically includes:
在进行姿态角测量前，利用所述单目视觉单元的相机采集所述合作目标在水平状态下所述多个特征靶标的第一图像，在进行姿态角测量时，利用所述单目视觉单元的相机采集所述多个特征靶标的第二图像；Before measuring the attitude angle, use the camera of the monocular vision unit to collect the first images of the plurality of characteristic targets in the horizontal state of the cooperative target, and use the monocular vision unit when measuring the attitude angle. the camera collects second images of the plurality of characteristic targets;
利用预设图像处理算法分别对所述第一图像和所述第二图像进行处理，得到所述多个特征靶标对应的第一姿态信息和第二姿态信息；Using a preset image processing algorithm to process the first image and the second image, respectively, to obtain the first attitude information and the second attitude information corresponding to the plurality of characteristic targets;
比较所述第一姿态信息和所述第二姿态信息，得到所述合作目标在所述第二坐标系中的滚动角度。Comparing the first attitude information and the second attitude information, the roll angle of the cooperation target in the second coordinate system is obtained.
进一步地，所述根据所述光斑在第一坐标系中的坐标和所述预设距离，获取所述光斑在所述第二坐标系中的坐标，具体包括：Further, 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:
将所述光斑在所述第一坐标系中的横坐标和纵坐标，分别作为所述光斑在所述第二坐标系中的横坐标和纵坐标，将所述预设距离作为所述光斑的Z轴坐标，即得到所述光斑在所述第二坐标系中的坐标。The abscissa and ordinate of the light spot in the first coordinate system are taken as the abscissa and the ordinate of the light spot in the second coordinate system, respectively, and the preset distance is taken as the distance of the light spot. The Z-axis coordinate is to obtain the coordinates of the light spot in the second coordinate system.
进一步地，所述根据所述角锥棱镜的顶点在第三坐标系中的坐标，获取所述激光束在所述第三坐标系中对应的第一空间向量，根据所述光斑在所述第二坐标系中的坐标，获取所述激光束在所述第二坐标系中对应的第二空间向量，具体包括：Further, obtaining the first space vector corresponding to the laser beam in the third coordinate system according to the coordinates of the vertex of the corner cube in the third coordinate system, and obtaining the first space vector corresponding to the laser beam in the third coordinate system according to the light spot in the third coordinate system. The coordinates in the two coordinate system to obtain the second space vector corresponding to the laser beam in the second coordinate system, specifically including:
将所述第三坐标系的原点作为起点，所述角锥棱镜的顶点作为终点，获取所述第一空间向量；将所述第二坐标系的原点作为起点，所述光斑作为终点，获取所述第二空间向量。The origin of the third coordinate system is used as the starting point, and the vertex of the corner cube is used as the end point, and the first space vector is obtained; the origin of the second coordinate system is used as the starting point, and the light spot is used as the end point, and the the second space vector.
进一步地，所述根据所述第一空间向量、所述第二空间向量以及所述合作目标在第二坐标系中的滚动角度，获取所述合作目标在所述第三坐标系的姿态角，具体包括：Further, obtaining 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, Specifically include:
对所述第一空间向量和所述第二空间向量分别进行归一化处理，得到第一单位向量和第二单位向量；The first space vector and the second space vector are respectively normalized to obtain the first unit vector and the second unit vector;
根据所述第一单位向量和所述第二单位向量之间的欧拉变换公式和所述合作目标在第二坐标系中的滚动角度，获取所述第二坐标系相对于所述第三坐标系的姿态角，即得到所述合作目标在所述第三坐标系中的姿态角。Obtain the second coordinate system relative to the third coordinate according to the Euler transformation formula between the first unit vector and the second unit vector and the roll angle of the cooperation target in the second coordinate system The attitude angle of the system is obtained, that is, the attitude angle of the cooperative target in the third coordinate system is obtained.
本发明实施例提供了一种激光跟踪姿态角测量系统及方法，通过对合作目标的结构进行设计，能够根据二维PSD测量得到的光斑的二维坐标，准确获取光斑在第二坐标系中的三维坐标，再根据激光束对应的空间向量的同一性，以及通过单目视觉测量单元获取测量得到的合作目标在第二坐标系中的滚动角，计算得到合作目标相对于三维测量系统对应的第三坐标系的姿态角，即得到被测物的姿态角，该测量系统及方法用于解决现有技术中基于激光跟踪靶标法实现姿态角测量的实际应用中横滚角测量响应慢、更新率低等问题，同时解决了传统单目视觉姿态角测量方法中由于特征图像深度信息丢失造成的误差增大问题。The embodiments of the present invention provide a laser tracking attitude angle measurement system and method. By designing the structure of the cooperative target, the two-dimensional coordinates of the light spot obtained by the two-dimensional PSD measurement can accurately obtain the position of the light spot in the second coordinate system. Three-dimensional coordinates, and then according to the identity of the space vector corresponding to the laser beam, and the roll angle of the cooperative target in the second coordinate system obtained by the monocular vision measurement unit, calculate the first coordinate of the cooperative target relative to the three-dimensional measurement system. The attitude angle of the three-coordinate system is the attitude angle of the object to be measured. The measurement system and method are used to solve the problem that the roll angle measurement response is slow and the update rate is slow in the practical application of the attitude angle measurement based on the laser tracking target method in the prior art. At the same time, it solves the problem of increasing error caused by the loss of depth information of feature images in the traditional monocular vision attitude angle measurement method.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative efforts.
图1为本发明实施例提供的一种激光跟踪姿态角测量系统的结构示意图；1 is a schematic structural diagram of a laser tracking attitude angle measurement system provided by an embodiment of the present invention;
图2为本发明实施例提供的一种合作目标的俯视图；2 is a top view of a cooperation target provided by an embodiment of the present invention;
图3为图2中所示合作目标的A-A向剖视图；Fig. 3 is the A-A sectional view of the cooperation target shown in Fig. 2;
图4为本发明实施例提供的一种利用上述激光跟踪姿态角测量系统进行姿态角测量的方法的流程图。FIG. 4 is a flowchart of a method for measuring an attitude angle by using the above-mentioned laser tracking attitude angle measuring system according to an embodiment of the present invention.
具体实施方式Detailed ways
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the purposes, 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. Obviously, the described embodiments are the Some, but not all, embodiments are disclosed. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
图1为本发明实施例提供的一种激光跟踪姿态角测量系统的结构示意图，如图1所示，包括：合作目标1、单目视觉测量单元2、激光跟踪测量单元3以及计算单元4；其中，1 is a schematic structural diagram of a laser tracking attitude angle measurement system provided by an embodiment of the present invention. As shown in FIG. 1 , it includes: a cooperative target 1, a monocular vision measurement unit 2, a laser tracking measurement unit 3, and a calculation unit 4; in,
所述合作目标1固定设置在被测物上，所述单目视觉测量单元2和所述激光跟踪测量单元3分别固定设置在预设位置；如图2-3所示，所述合作目标1包括二维PSD模块11、角锥棱镜12以及多个特征靶标13；所述二维PSD模块11包括二维PSD和数据处理子模块，所述角锥棱镜12的透光面与所述二维PSD的感光面平行，且所述角锥棱镜12的顶点与所述二维PSD的感光面相距预设距离设置，所述角锥棱镜12的顶点处开有透光孔，所述激光跟踪测量单元3发射的激光束经所述角锥棱镜12的透光面后再通过所述透光孔打在所述二维PSD的感光面上形成光斑，所述多个特征靶标13的数量不少于6个，所述多个特征靶标13中有至少3个第一特征靶标，且所述至少3个第一特征靶标对应的靶标点构成的平面与所述二维PSD的感光面平行。The cooperation target 1 is fixed on the object to be measured, and the monocular vision measurement unit 2 and the laser tracking measurement unit 3 are respectively fixed at preset positions; as shown in Figure 2-3, the cooperation target 1 It includes a two-dimensional PSD module 11, a corner prism 12 and a plurality of feature targets 13; the two-dimensional PSD module 11 includes a two-dimensional PSD and a data processing sub-module, and the light-transmitting surface of the corner prism 12 is the same as the two-dimensional The photosensitive surfaces of the PSD are parallel, and the vertex of the corner cube 12 is set at a preset distance from the photosensitive surface of the two-dimensional PSD. The vertex of the cube corner 12 is provided with a light-transmitting hole, and the laser tracking measurement The laser beam emitted by the unit 3 passes through the light-transmitting surface of the cube corner prism 12 and then passes through the light-transmitting hole to form a light spot on the photosensitive surface of the two-dimensional PSD. The number of the multiple characteristic targets 13 is quite large. Among the six characteristic targets, there are at least three first characteristic targets in the plurality of characteristic targets 13, and the plane formed by the target points corresponding to the at least three first characteristic targets is parallel to the photosensitive surface of the two-dimensional PSD.
其中，合作目标1固定设置在被测物体上随被测物体一起运动，合作目标的姿态角即为被测物体的姿态角。单目视觉测量单元2和激光跟踪测量单元3在测量时固定设置于预设位置，该预设位置可以根据实际需求进行设定，在此不做限定。Among them, the cooperative target 1 is fixedly set on the measured object and moves together with the measured object, and the attitude angle of the cooperative target is the attitude angle of the measured object. The monocular vision measurement unit 2 and the laser tracking measurement unit 3 are fixedly set at a preset position during measurement, and the preset position can be set according to actual requirements, which is not limited here.
至少3个第一特征靶标对应的靶标点构成的平面与所述二维PSD的感光面平行，即至少6个特征靶标对应的靶标点不一定处于同一平面上，而只需其中三个特征靶标对应的靶标点处于同一平面，且该平面平行于二维PSD的感光面。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 three of the characteristic targets are required. The corresponding target points are in the same plane, and the plane is parallel to the photosensitive surface of the two-dimensional PSD.
具体地，在测量时，激光跟踪测量单元3向合作目标1发射激光束，激光束先经过角锥棱镜12的透光面后，在角锥棱镜12顶点处部分激光束沿原路返回，部分激光束通过顶点处的透光孔打在二维PSD的感光面上形成光斑。同时，单目视觉测量单元2的相机可以对多个特征靶标13进行图像采集。Specifically, during measurement, the laser tracking and measurement unit 3 emits a laser beam to the cooperative target 1. After the laser beam first passes through the light-transmitting surface of the corner cube 12, part of the laser beam returns along the original path at the vertex of the corner cube 12, and part of the laser beam returns along the original path at the vertex of the corner cube 12. The laser beam passes through the light-transmitting hole at the vertex to form a light spot on the photosensitive surface of the two-dimensional PSD. At the same time, the camera of the monocular vision measurement unit 2 can perform image acquisition on a plurality of feature targets 13 .
所述数据处理子模块用于获取所述光斑在第一坐标系中的坐标；其中，所述第一坐标系为处在所述感光面上的二维坐标系；The data processing sub-module is used to obtain the coordinates of the light spot in a first coordinate system; wherein, the first coordinate system is a two-dimensional coordinate system on the photosensitive surface;
所述单目视觉测量单元用于通过所述多个特征靶标获取所述合作目标在第二坐标系中的滚动角度；其中，所述第二坐标系为原点与所述角锥棱镜的顶点重合的三维坐标系，且所述第二坐标系的Z轴通过所述第一坐标系的原点；The monocular vision measurement unit is used to obtain the rolling angle of the cooperative target in the second coordinate system through the plurality of characteristic targets; wherein, the second coordinate system is that the origin coincides with the vertex of the corner cube The three-dimensional coordinate system of , and the Z axis of the second coordinate system passes through the origin of the first coordinate system;
所述激光跟踪测量单元用于获取所述角锥棱镜的顶点在第三坐标系中的坐标；其中，所述第三坐标系为所述激光跟踪测量单元的测量坐标系；The laser tracking measurement unit is used to obtain the coordinates of the vertex of the corner cube in a third coordinate system; wherein, the third coordinate system is the measurement coordinate system of the laser tracking measurement unit;
所述计算单元用于根据所述光斑在第一坐标系中的坐标和所述预设距离，获取所述光斑在所述第二坐标系中的坐标；根据所述角锥棱镜的顶点在第三坐标系中的坐标，获取所述激光束在所述第三坐标系中对应的第一空间向量，根据所述光斑在所述第二坐标系中的坐标，获取所述激光束在所述第二坐标系中对应的第二空间向量；根据所述第一空间向量、所述第二空间向量以及所述合作目标在第二坐标系中的滚动角度，获取所述合作目标在所述第三坐标系的姿态角，即得到所述被测物的姿态角。The calculation unit is configured to obtain 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; The coordinates in the three coordinate system, obtain the first space vector corresponding to the laser beam in the third coordinate system, and obtain the coordinates of the laser beam in the second coordinate system according to the coordinates of the light spot in the second coordinate system. the corresponding second space vector in the second coordinate system; according to the first space vector, the second space vector and the rolling angle of the cooperation target in the second coordinate system, obtain the The attitude angle of the three-coordinate system, that is, the attitude angle of the measured object is obtained.
其中，第一坐标系可以理解为二维PSD感光面的内部坐标系，可以通过数据处理子模块直接读取其上光斑在第一坐标系中的坐标。第二坐标系可以理解为对应于合作目标的坐标系，第二坐标系在合作目标运动(即被测物运动)时，也跟随合作目标做相应的运动，故第二坐标系相对于第三坐标系的姿态角即为合作目标在第三坐标系中的姿态角。激光跟踪测量单元3发射的激光束对应的空间向量既可以用第三坐标系中的点表示，又可以用第二坐标系中的点表示，即第二空间向量和第三空间向量，两者的归一化后的单位向量实质上是相同向量的不同表现形式，根据这一关系，在得出第一空间向量和第二空间向量之间的变换关系时，即可得到第二坐标系相对于第三坐标系的姿态角，进而得到合作目标在第三坐标系中的姿态角。The first coordinate system can be understood as the 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 sub-module. The second coordinate system can be understood as the coordinate system corresponding to the cooperative target. When the cooperative target moves (that is, the measured object moves), the second coordinate system also follows the cooperative target to make corresponding movements. Therefore, the second coordinate system is relative to the third coordinate system. The attitude angle of the 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 or a point in the second coordinate system, that is, the second space vector and the third space vector, both of which The normalized unit vector is essentially a different representation of the same vector. According to this relationship, when the transformation relationship between the first space vector and the second space vector is obtained, the relative relationship of the second coordinate system can be obtained. The attitude angle of the third coordinate system is obtained, and then the attitude angle of the cooperative target in the third coordinate system is obtained.
具体地，根据光斑在第一坐标系中的坐标和预设距离，获取光斑在第二坐标系中的坐标；根据角锥棱镜的顶点在第三坐标系中的坐标，获取激光束在第三坐标系中对应的第一空间向量，根据光斑在第二坐标系中的坐标，获取激光束在第二坐标系中对应的第二空间向量；根据第一空间向量、第二空间向量以及合作目标在第二坐标系中的滚动角度，获取合作目标在第三坐标系的姿态角，即得到被测物的姿态角。Specifically, according to the coordinates of the light spot in the first coordinate system and the preset distance, the coordinates of the light spot in the second coordinate system are obtained; according to the coordinates of the vertex of the corner cube in the third coordinate system, the third coordinate system of the laser beam is obtained. The corresponding first space vector in the coordinate system, according to the coordinates of the spot in the second coordinate system, obtain the second space vector corresponding to the laser beam in the second coordinate system; according to the first space vector, the second space vector and the cooperation target The roll angle in the second coordinate system is used to obtain the attitude angle of the cooperative target in the third coordinate system, that is, the attitude angle of the measured object is obtained.
本发明实施例提供了一种激光跟踪姿态角测量系统，通过对合作目标的结构进行设计，能够根据二维PSD测量得到的光斑的二维坐标，准确获取光斑在第二坐标系中的三维坐标，再根据激光束对应的空间向量的同一性，以及通过单目视觉测量单元获取测量得到的合作目标在第二坐标系中的滚动角，计算得到合作目标相对于三维测量系统对应的第三坐标系的姿态角，即得到被测物的姿态角，该测量系统克服了现有技术中存在横滚角测量响应慢、更新率低等问题。The embodiment of the present invention provides a laser tracking attitude angle measurement system. By designing the structure of the cooperative target, the three-dimensional coordinates of the light spot in the second coordinate system can be accurately obtained according to the two-dimensional coordinates of the light spot obtained by the two-dimensional PSD measurement. , and then according to the identity of the space vector corresponding to the laser beam and the roll angle of the cooperative target in the second coordinate system obtained by the monocular vision measurement unit, the third coordinate corresponding to the cooperative target relative to the three-dimensional measurement system is calculated. The attitude angle of the system is obtained, that is, the attitude angle of the measured object is obtained. The measurement system overcomes the problems of slow roll angle measurement response and low update rate in the prior art.
在上述实施例中，所述激光跟踪测量单元为激光跟踪仪或全站仪，所述单目视觉测量单元中的相机为CCD相机。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.
具体地，激光跟踪测量单元为激光跟踪仪或全站仪，在实际测量时，可以根据精度需求进行选用。Specifically, the laser tracking measurement unit is a laser tracker or a total station, which can be selected according to the accuracy requirements during actual measurement.
在上述实施例中，在所述透光孔靠近所述二维PSD的一侧设置有圆形光阑。In the above-mentioned embodiment, a circular aperture is provided on the side of the light-transmitting hole close to the two-dimensional PSD.
具体地，通过在透光孔靠近二维PSD一侧设置圆形光阑，可以减弱衍射现象。Specifically, by arranging a circular diaphragm on the side of the light-transmitting hole close to the two-dimensional PSD, the diffraction phenomenon can be weakened.
在上述实施例中，在所述二维PSD感光面上设置有滤光片。In the above embodiment, a filter is provided on the two-dimensional PSD photosensitive surface.
具体地，在二维PSD感光面上设置滤光片，可以减少自然光对数据稳定性的干扰。Specifically, setting filters on the two-dimensional PSD photosensitive surface can reduce the interference of natural light on data stability.
在上述实施例中，所述多个特征靶标的数量至少为6个，且每个特征靶标由强反射材料或红外LED制成。In the above-mentioned embodiment, the number of the plurality of characteristic targets is at least 6, and each characteristic target is made of a strong reflective material or an infrared LED.
图4为本发明实施例提供的一种利用上述激光跟踪姿态角测量系统进行姿态角测量的方法的流程图，如图4所示，包括：4 is a flowchart of a method for measuring an attitude angle by using the above-mentioned laser tracking attitude angle measurement system provided by an embodiment of the present invention, as shown in FIG. 4 , including:
S401，将所述合作目标固定设置在被测物上，并将所述单目视觉测量单元和所述激光跟踪测量单元分别固定设置在预设位置；S401, the cooperation target is fixedly arranged on the measured object, and the monocular vision measurement unit and the laser tracking measurement unit are fixedly arranged at preset positions respectively;
S402，利用所述数据处理子模块获取所述光斑在第一坐标系中的坐标，利用所述单目视觉测量单元通过所述多个特征靶标获取所述合作目标在第二坐标系中的滚动角度，利用所述激光跟踪测量单元获取所述角锥棱镜的顶点在第三坐标系中的坐标；S402, using the data processing sub-module to obtain the coordinates of the light spot in the first coordinate system, and using the monocular vision measurement unit to obtain the rolling of the cooperative target in the second coordinate system through the multiple characteristic targets angle, using the laser tracking measurement unit to obtain the coordinates of the vertex of the corner cube in the third coordinate system;
S403，根据所述光斑在第一坐标系中的坐标和所述预设距离，获取所述光斑在所述第二坐标系中的坐标；S403, 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;
S404，根据所述角锥棱镜的顶点在第三坐标系中的坐标，获取所述激光束在所述第三坐标系中对应的第一空间向量，根据所述光斑在所述第二坐标系中的坐标，获取所述激光束在所述第二坐标系中对应的第二空间向量；S404, according to the coordinates of the vertex of the corner cube in the third coordinate system, obtain the first space vector corresponding to the laser beam in the third coordinate system, and according to the light spot in the second coordinate system to obtain the second space vector corresponding to the laser beam in the second coordinate system;
S405，根据所述第一空间向量、所述第二空间向量以及所述合作目标在第二坐标系中的滚动角度，获取所述合作目标在所述第三坐标系的姿态角，即得到所述被测物的姿态角。S405, according to the first space vector, the second space vector and the rolling angle of the cooperation target in the second coordinate system, obtain the attitude angle of the cooperation target in the third coordinate system, that is, obtain the obtained The attitude angle of the measured object.
在步骤S401中，合作目标固定设置在被测物体上随被测物体一起运动，合作目标的姿态角即为被测物体的姿态角。单目视觉测量单元和激光跟踪测量单元在测量时固定设置于预设位置，该预设位置可以根据实际需求进行设定，在此不做限定。In step S401, the cooperative target is fixedly set on the measured object to move together with the measured object, and the attitude angle of the cooperative target is the attitude angle of the measured object. The monocular vision measurement unit and the laser tracking measurement unit are fixedly set at a preset position during measurement, and the preset position can be set according to actual needs, which is not limited here.
在步骤S402-S405中，第一坐标系可以理解为二维PSD感光面的内部坐标系，可以通过数据处理子模块直接读取其上光斑在第一坐标系中的坐标。第二坐标系可以理解为对应于合作目标的坐标系，第二坐标系在合作目标运动(即被测物运动)时，也跟随合作目标做相应的运动，故第二坐标系相对于第三坐标系的姿态角即为合作目标在第三坐标系中的姿态角。激光跟踪测量单元发射的激光束对应的空间向量既可以用第三坐标系中的点表示，又可以用第二坐标系中的点表示，即第二空间向量和第三空间向量，两者的归一化后的单位向量实质上是相同向量的不同表现形式，根据这一关系，在得出第一空间向量和第二空间向量之间的变换关系时，即可得到第二坐标系相对于第三坐标系的姿态角，进而得到合作目标在第三坐标系中的姿态角。In steps S402-S405, the first coordinate system can be understood as the 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 sub-module. The second coordinate system can be understood as the coordinate system corresponding to the cooperative target. When the cooperative target moves (that is, the measured object moves), the second coordinate system also follows the cooperative target to make corresponding movements. Therefore, the second coordinate system is relative to the third coordinate system. The attitude angle of the 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 a point in the third coordinate system or a point in the second coordinate system, that is, the second space vector and the third space vector. The normalized unit vector is essentially a different representation of the same vector. According to this relationship, when the transformation relationship between the first space vector and the second space vector is obtained, the second coordinate system can be obtained relative to The attitude angle of the third coordinate system, and then the attitude angle of the cooperative target in the third coordinate system is obtained.
本发明实施例提供了一种姿态角测量方法，通过对合作目标的结构进行设计，能够根据二维PSD测量得到的光斑的二维坐标，准确获取光斑在第二坐标系中的三维坐标，再根据激光束对应的空间向量的同一性，以及通过单目视觉测量单元获取测量得到的合作目标在第二坐标系中的滚动角，计算得到合作目标相对于三维测量系统对应的第三坐标系的姿态角，即得到被测物的姿态角，该测量方法克服了现有技术中存在的问题。The embodiment of the present invention provides an attitude angle measurement method. By designing the structure of the cooperation target, the three-dimensional coordinates of the light spot in the second coordinate system can be accurately obtained according to the two-dimensional coordinates of the light spot obtained by the two-dimensional PSD measurement, and then According to the identity of the space vector corresponding to the laser beam, and the roll angle of the cooperative target in the second coordinate system obtained by the monocular vision measurement unit, the calculation result of the cooperative target relative to the third coordinate system corresponding to the three-dimensional measurement system is obtained. The attitude angle is to obtain the attitude angle of the measured object, and the measurement method overcomes the problems existing in the prior art.
在上述实施例中，所述利用所述单目视觉测量单元通过所述多个特征靶标获取所述合作目标在第二坐标系中的滚动角度，具体包括：In the above embodiment, the use of the monocular vision measurement unit to obtain the rolling angle of the cooperative target in the second coordinate system through the plurality of characteristic targets specifically includes:
在进行姿态角测量前，利用所述单目视觉单元的相机采集所述合作目标在水平状态下所述多个特征靶标的第一图像，在进行姿态角测量时，利用所述单目视觉单元的相机采集所述多个特征靶标的第二图像；Before measuring the attitude angle, use the camera of the monocular vision unit to collect the first images of the plurality of characteristic targets in the horizontal state of the cooperative target, and use the monocular vision unit when measuring the attitude angle. the camera collects second images of the plurality of characteristic targets;
利用预设图像处理算法分别对所述第一图像和所述第二图像进行处理，得到所述多个特征靶标对应的第一姿态信息和第二姿态信息；Using a preset image processing algorithm to process the first image and the second image, respectively, to obtain the first attitude information and the second attitude information corresponding to the plurality of characteristic targets;
比较所述第一姿态信息和所述第二姿态信息，得到所述合作目标在所述第二坐标系中的滚动角度。Comparing the first attitude information and the second attitude information, the roll angle of the cooperation target in the second coordinate system is obtained.
其中，在进行姿态角测量前，合作目标在水平状态时，其相对于第三坐标系的旋转角为0。Wherein, before the attitude angle measurement is performed, when the cooperative target is in a horizontal state, its rotation angle relative to the third coordinate system is 0.
具体地，单目视觉测量中预设处理算法可以理解为现有技术，在此不再赘述。Specifically, the preset processing algorithm in monocular vision measurement can be understood as the prior art, and details are not described herein again.
在上述实施例中，所述根据所述光斑在第一坐标系中的坐标和所述预设距离，获取所述光斑在所述第二坐标系中的坐标，具体包括：In the above embodiment, 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 specifically includes:
将所述光斑在所述第一坐标系中的横坐标和纵坐标，分别作为所述光斑在所述第二坐标系中的横坐标和纵坐标，将所述预设距离作为所述光斑的Z轴坐标，即得到所述光斑在所述第二坐标系中的坐标。The abscissa and ordinate of the light spot in the first coordinate system are taken as the abscissa and the ordinate of the light spot in the second coordinate system, respectively, and the preset distance is taken as the distance of the light spot. The Z-axis coordinate is to obtain the coordinates of the light spot in the second coordinate system.
具体地，由于第二坐标系的Z轴通过第一坐标系的原点，且第二坐标系的Z轴垂直于所述二维PSD的感光面，即光斑在第一坐标系中的横坐标和纵坐标与其在第二坐标系中的横坐标和纵坐标相同。同时，由于角锥棱镜的顶点与二维PSD的感光面相距预设距离设置，故可以知道光斑的Z轴坐标值等于预设距离。Specifically, since 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, that is, the abscissa of the light spot in the first coordinate system and the The ordinate is the same as its abscissa and ordinate in the second coordinate system. Meanwhile, since the vertex of the corner cube is set at a preset distance from the photosensitive surface of the two-dimensional PSD, it can be known that the Z-axis coordinate value of the light spot is equal to the preset distance.
预设距离的设置可以根据被测物相对于第三坐标系运动的角度ε确定，具体计算公式如下：The setting of the preset distance can be determined according to the movement angle ε of the measured object relative to the third coordinate system. The specific calculation formula is as follows:
其中，h为预设距离，L为二维PSD感光面的边长。Among them, h is the preset distance, and L is the side length of the two-dimensional PSD photosensitive surface.
在上述实施例中，所述根据所述角锥棱镜的顶点在第三坐标系中的坐标，获取所述激光束在所述第三坐标系中对应的第一空间向量，根据所述光斑在所述第二坐标系中的坐标，获取所述激光束在所述第二坐标系中对应的第二空间向量，具体包括：In the above-mentioned embodiment, the first space vector corresponding to the laser beam in the third coordinate system is obtained according to the coordinates of the vertex of the corner cube in the third coordinate system, and the first space vector corresponding to the laser beam in the third coordinate system is obtained, according to the The coordinates in the second coordinate system, and obtaining the second space vector corresponding to the laser beam in the second coordinate system, specifically including:
将所述第三坐标系的原点作为起点，所述角锥棱镜的顶点作为终点，获取所述第一空间向量；将所述第二坐标系的原点作为起点，所述光斑作为终点，获取所述第二空间向量。The origin of the third coordinate system is used as the starting point, and the vertex of the corner cube is used as the end point, and the first space vector is obtained; the origin of the second coordinate system is used as the starting point, and the light spot is used as the end point, and the the second space vector.
具体地，第一空间向量的坐标值可以根据第三坐标系的原点的坐标值和角锥棱镜的顶点在第三坐标系中的坐标值计算得到。同样，第二空间向量的坐标值可以根据第二坐标系的原点和光斑在第二坐标系中的坐标值计算得到。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. Likewise, 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.
在上述实施例中，所述根据所述第一空间向量、所述第二空间向量以及所述合作目标在第二坐标系中的滚动角度，获取所述合作目标在所述第三坐标系的姿态角，具体包括：In the above-mentioned embodiment, according to the first space vector, the second space vector, and the rolling angle of the cooperation target in the second coordinate system, obtain the coordinate system of the cooperation target in the third coordinate system. Attitude angle, including:
对所述第一空间向量和所述第二空间向量分别进行归一化处理，得到第一单位向量和第二单位向量；The first space vector and the second space vector are respectively normalized to obtain the first unit vector and the second unit vector;
根据所述第一单位向量和所述第二单位向量之间的欧拉变换公式和所述合作目标在第二坐标系中的滚动角度，获取所述第二坐标系相对于所述第三坐标系的姿态角，即得到所述合作目标在所述第三坐标系中的姿态角。Obtain the second coordinate system relative to the third coordinate according to the Euler transformation formula between the first unit vector and the second unit vector and the roll angle of the cooperation target in the second coordinate system The attitude angle of the system is obtained, that is, the attitude angle of the cooperative target in the third coordinate system is obtained.
具体地，根据实际测量情况获取第一空间向量O3O2、第二空间向量O2P，进而归一化处理获得第一单位向量第二单位向量在对第一单位向量和第二单位向量进行欧拉变换时，具体计算公式如下：Specifically, the first space vector O 3 O 2 and the second space vector O 2 P are obtained according to the actual measurement situation, and then the first unit vector is obtained by normalization processing second unit vector When performing Euler transformation 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)R r =R(x,σ)R(y,τ)R(z,ω)
其中，σ、τ、ω表示第二坐标系依次绕其自身X轴旋转σ角、旋转后的坐标系绕其自身Y轴旋转τ角、旋转后的坐标系绕其自身Z轴旋转ω角；Rr为第二坐标系相对于第三坐标系变换的右乘旋转矩阵；Rr T为Rr的转置矩阵；为第二坐标系相对于第三坐标系变换的左乘旋转矩阵；Among them, σ, τ, ω means that the second coordinate system rotates around its own X-axis by an angle of σ, the rotated coordinate system rotates around its own Y-axis by an angle of τ, and the rotated coordinate system rotates around its own Z-axis by an angle of ω; R r is the right multiplication rotation matrix transformed by the second coordinate system relative to the third coordinate system; R r T is the transposed matrix of R r ; is the left-multiplied rotation matrix of the transformation of the second coordinate system relative to the third coordinate system;
在对所述第三坐标系中的姿态角α,β,γ计算时，具体计算公式如下：When calculating the attitude angles α, β, γ in the third coordinate system, the specific calculation formula is as follows:
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be The technical solutions described in the foregoing embodiments are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.
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