CN110488309A - The target Calibration Method of foreign matter device is removed based on laser - Google Patents
The target Calibration Method of foreign matter device is removed based on laser Download PDFInfo
- Publication number
- CN110488309A CN110488309A CN201810624636.1A CN201810624636A CN110488309A CN 110488309 A CN110488309 A CN 110488309A CN 201810624636 A CN201810624636 A CN 201810624636A CN 110488309 A CN110488309 A CN 110488309A
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- Prior art keywords
- laser
- visual sensor
- background board
- turntable
- foreign matter
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of target Calibration Methods that foreign matter device is removed based on laser.Whether the launching position that this method passes through the visible light for judging that laser part issues is accurate, and whether position is using correct object of reference as image center point；Then it is calibrated by the mechanical location on adjusting mechanism, keeps the visible optical position issued accurate, so that it is guaranteed that the laser position projected when removing foreign matter is accurate.Present invention may determine that the laser optical center position of different distance section and carrying out position correction to it, keep camera optical axis and laser beam axis absolute parallel, the laser projection precision for removing foreign matter device can also be improved, keep laser projection position accurate.
Description
Technical field
The invention belongs to electric system high voltage transmission line foreign matters to remove field, specifically, being a kind of based on laser removing
The target Calibration Method of foreign matter device.
Background technique
Overhead transmission line is along thread environment complexity, the floatabilities such as kite and kite string, agripast cloth, advertising cloth, sunshade net
The frequent lash of foreign matter on the transmission line, leads to line tripping power failure or route damage, causes pole to electric system and society
Huge economic loss.In recent years, with the fast development of image processing techniques, application range is also increasingly wider.Image procossing
Have many advantages, such as to contain much information, is the high and low risk of real-time, non-contact.Then Visual servoing control can be introduced overhead transmission line
Foreign matter removes field, and the laser for designing a kind of view-based access control model servo removes foreign matter device.In order to make the accurate calcination target of laser, then
Necessarily to device marked compared with.
Summary of the invention
The purpose of the present invention is to provide a kind of target Calibration Methods that foreign matter device is removed based on laser, can determine not
The laser optical center position of same distance section simultaneously carries out position correction to it, keeps visual sensor optical axis and laser beam axis absolute parallel.
The technical solution for realizing the aim of the invention is as follows: a kind of target calibration side removing foreign matter device based on laser
Method, the device include turntable, laser part, control system, visual sensor；Wherein, turntable includes orientation component and pitching portion
Part, the orientation component side of being mounted on the base, pitch components are mounted on above orientation component, and laser part includes laser beam emitting head,
Laser beam emitting head and visual sensor are mounted on pitch components；
Control system is connect with visual sensor, adjusts visual sensor focal length and wide-angle parameter, visual sensor are used for
Foreign matter point is captured, image is transmitted to control system and carries out image recognition；Control system respectively with orientation component, pitch components phase
Even, control system handles the result of image recognition, and driving orientation component, pitch components carry out orientation and pitching two freely
The rotation of degree, so that laser part and visual sensor be driven to rotate；
Method includes the following steps:
Step 1, white background board is set up immediately ahead of turntable, background board hangs down perpendicular to ground and with visual sensor optical axis
Directly；Visual sensor is opened, visual sensor is made to carry out auto-focusing, it is fixed when getting a clear view in visual sensor picture
Focal length value at this time；
Step 2, the red visible for opening laser beam emitting head, projects it on background board, carries on the back according in camera image
Red visible on scape plate obtains the center pixel position of red visible in image as laser optical center position, coordinate
Position is (x1, y1, z1)；
Step 3, visual sensor centre coordinate is (x0, y0, z0), is judged from the background board at turntable any distance
Whether relative position is absolutely fixed for visual sensor optical axis center point and red visible central point, if being not fixed, executes step
The laser part of rapid 4 pairs of devices carries out mechanically calibrated；
Step 4, the mechanical location for harmonizing laser part makes the red visible central point issued and visual sensor optical axis
Relative position of the central point under real coordinate system is fixed, and red visible and the holding of visual sensor optical axis after calibration are made
Fixed distance and direction, i.e., in above-mentioned visual sensor centre coordinate and laser optical center position coordinates, y0=y1, z0=z1,
X0 has at a distance from fixed between x1；
Step 5, background board is moved to apart from the farther any position of turntable, return step 2, so that in different distance
Under, visual sensor focus and laser point keep relative position absolutely fixed under real coordinate system under any distance.
Compared with prior art, the present invention its remarkable advantage: (1) present invention using piecewise distance to target marked compared with,
Method simple practical, strong operability；(2) present invention replaces laser burns using coaxial red visible light, does not generate flame,
Securely and reliably, easy to operate.
Detailed description of the invention
Fig. 1 is calibration schematic illustration of the invention.
Fig. 2 is the general assembly structural schematic diagram that laser of the invention removes foreign matter device.
Fig. 3 is that laser of the invention removes the pitch components of foreign matter device and the structural schematic diagram of orientation component.
Fig. 4 is the sectional view and top view for the orientation component that laser of the invention removes foreign matter device.
Fig. 5 is the top view for the pitch components that laser of the invention removes foreign matter device.
Fig. 6 is the control system operation schematic diagram that laser of the invention removes foreign matter device.
Specific embodiment
A kind of specific embodiment of the invention is further described with reference to the accompanying drawing.
It referring to fig. 2-6, is that the laser that Calibration Method of the invention is based on removes foreign matter device.Such as Fig. 2, which includes
Turntable 1, laser part 2, pedestal 3, power-supply system 4, input/output unit 5, control system, communication module 7, visual sensor 8
(preferably high definition industrial camera), intermediate station 1 include orientation component 9 and pitch components 10.Orientation component 9 is installed on the base 3
Side, including orientation torque motor 11, orientation angles measuring device (rotation becomes transmitter or Lineside encoding unit) 12；Pitch components 10 are pacified
Above orientation component 9, including bearing block 1, bearing block 2 14, pitching moment motor 15；Laser part 2 includes laser
Emitting head 21 and laser controlling case 25, laser beam emitting head 21 are installed in the connection parts 17 of pitch components 10；Visual sensor 8 is pacified
In the connection parts 17 of pitch components 10.
In control system, industrial personal computer 26 is connect with visual sensor 8, is adjusted 8 focal length of visual sensor and wide-angle parameter, is made
It gets a clear view；Visual sensor 8 and industrial personal computer 26 connect, and after capturing foreign matter point, image are transmitted to industrial personal computer 26 and carries out image knowledge
Not；Industrial personal computer 26 is connected by controlling driving part 29 with orientation component 9, pitch components 10, can carry out orientation and pitching two
The rotation of freedom degree, so that laser part 2 and visual sensor 8 be driven to rotate；Industrial personal computer 26 is by the result treatment of image recognition
Afterwards, it is transmitted to control driving part 29, orientation component 9 is adjusted and pitch components 10 is tracked, and drive laser part 2 to foreign matter
It is cut；Control system 6 and the connection of communication module 7 are for obtaining remote control information；Power-supply system 4 is control system 6, view
Feel that sensor 8, orientation component 9, pitch components 10, laser part 2, communication module 7 are powered.
As seen in figures 3-5, orientation component 9 includes orientation torque motor 11, (rotation becomes transmitter to orientation angles measuring device
Or Lineside encoding unit) 12, orientation limiting lock components 18, azimuth base 19 and orientation bracket 20.Wherein, orientation bracket 20 is installed
In azimuth base 19, for connecting pitch components 10.Azimuth base 19 is fixed on the base 3,10 side of being fixed on of pitch components
On the bracket 20 of position.Orientation angles measuring device (rotation becomes transmitter or Lineside encoding unit) 12 is fixed on lower section in azimuth base 3, by
It obtains the angle of true bearing rotation, is sent to control driving part 29 by electric signal；Orientation torque motor 11 is fixed on
Top in azimuth base 19 passes through rotation axis connection with orientation angles measuring device (rotation becomes transmitter or Lineside encoding unit) 12,
- 180~180 degree rotation of the device in orientation can be achieved；Orientation limiting lock components 18 are located on 20 edge of orientation bracket, lead to
The order for crossing control driving part 29 falls into it in circular hole at 3 edge of azimuth base, for locking orientation, constant bearing
Bracket 20.
Pitch components 10 include bearing block 1, bearing block 2 14, pitching moment motor 15, connection parts 17, pitch angle
Spend measuring device (rotation becomes transmitter or Lineside encoding unit) 16, pitching limiting lock components 22.Wherein, bearing block 1 and bearing
Seat 2 14 is fixedly mounted on the orientation bracket 20 of orientation component 9, and bearing block 1 and bearing block 2 14 are parallel to each other, the side of following
Position component 9 rotates；Pitching moment motor 15 is located in bearing block 1, it can be achieved that 0~90 degree of pitching rotation.Connection parts 17 are horizontal
Frame is tied between pitching moment motor 15 and pitch angle measuring device (rotation becomes transmitter or Lineside encoding unit) 16 as transmission
Structure, and be connected with visual sensor 8 and laser beam emitting head 26, drive them to rotate together；(rotation becomes hair to pitch angle measuring device
Send machine or Lineside encoding unit) it 16 is placed in bearing block 2 14, by obtaining the angle of practical pitch rotation with the rotation of connection parts 17
Degree is sent to control driving part 29 by electric signal；Pitching limiting lock components 22 are located at 2 14 inside of bearing block, are used for machine
The pitch angle of tool restriction pitching moment motor 15.Orientation bracket 20 is fixed on the upper of azimuth base 19, for connecting pitching portion
Part 10, drives it to rotate in orientation.
Laser part 2 includes laser beam emitting head 21 and laser controlling case 25, wherein laser beam emitting head 21 is by optical fiber and swashs
Photocontrol case 25 connects, and emits laser, is at laser light source；Laser beam emitting head 21 is mounted in connection parts 17, is passed with vision
Sensor 8 is rotated together with connection parts 17.
Power-supply system 4 includes laser battery 23 and DC power supply 24.DC power supply 24 is mainly used for turntable 1, input
Output device 5 and visual sensor 8 are powered.Laser battery 23 is mainly used for powering to laser part 2.
Input/output unit 5 includes display 27 and input unit 28.Display 27 receives industrial personal computer by HDMI interface
26 signals, 6 control interface of display control program；Input unit 28 is used to input the operation information of operator, is sent to industry control
Machine 26.
As shown in fig. 6, control system 6 includes industrial personal computer 26 and control driving part 29.Industrial personal computer 26 passes through RS485 serial ports
Visual sensor 8 is sent commands to, is changed for realizing focal length, the narrow angle of wide-angle, presetting bit image parameter；Industrial personal computer 26 passes through same
Shaft cable receives 8 image of visual sensor and information, identifies route and foreign matter, obtains foreign matter location information and feeds back to control driving
Component 29；Industrial personal computer 26 is connect with control driving part 29 by RS422 serial ports and realizes that the rotation of turntable 1 is cut；Industrial personal computer 26 with
Human-computer interaction is realized in the connection of input/output unit 5；Control driving part 29 is located in the azimuth base 19 in orientation component 9, leads to
Cross orientation angles measuring device (rotation becomes transmitter or Lineside encoding unit) 12, pitch angle measuring device (rotation change transmitter or electricity
Sub-encoders) 16 angle informations for receiving orientation component 9 and pitch components 10 respectively, and industrial personal computer is transmitted to by RS422 serial ports
26, while 26 information control azimuth component 9 of industrial personal computer and pitch components 10 are received, carry out two-freedom movement.
Communication module 7 includes wireless transmitter module 30 and wireless receiving module 31, is mainly used for realizing that industrial personal computer 26 is wireless
Monitoring function；Communication module 7 has the function of wireless awakening and networking function.
Visual sensor 8 is fixedly mounted in the connection parts 17 of pitch components 10, is adopted with rotating therewith, and in real time
Collect image information in front and control system is sent to by coaxial cable, and receives 26 signal instruction of industrial personal computer.
Pedestal 3 is located at the bottommost of device, and stable support is provided to whole device.
As shown in Figure 1, the present invention is based on the target Calibration Methods that laser removes foreign matter device, comprising the following steps:
Step 1, immediately ahead of turntable at 30-50m set up white background board, white background board perpendicular to ground and with
Camera optical axis is vertical；High definition industrial camera is opened, so that high definition industrial camera is carried out auto-focusing, when getting a clear view in camera view
When, fixed focal length value at this time；
Step 2, the red visible for opening laser beam emitting head, projects it on background board, carries on the back according in camera image
Red visible on scape plate obtains the center pixel position of red visible in image as laser optical center position, coordinate
Position is (x1, y1, z1)；
Step 3, image center coordinate is (x0, y0, z0), since image center on device and laser emission part exist admittedly
Fixed direction and distance, thus the optical axis of high definition industrial camera and red visible axis under real coordinate system there are identical
Direction and distance are having phase with red visible central point from the camera optical axis central point on the background board at turntable any distance
Same direction and distance, the i.e. relative position of two o'clock are absolutely fixed.Judge from the camera on the background board at turntable any distance
Whether the relative position of optical axis center point and red visible central point is absolutely fixed, if relative position is not fixed, executes step
The laser part of rapid 4 pairs of devices carries out mechanically calibrated；
Step 4, the mechanical location for harmonizing laser part makes the red visible central point issued and camera optical axis central point
Relative position under real coordinate system is fixed, make after calibration at a distance from red visible and camera optical axis are kept fixed and
Direction, i.e., in above-mentioned image center coordinate and laser optical center position coordinates, y0=y1, z0=z1 have fixed between x0 and x1
Distance；
Step 5, background board is moved to any position apart from turntable 60-100m, then the mark of return step 2-4
School operation, so that camera focus and laser point keep relative position under any distance under real coordinate system under different distance
It is absolutely fixed.
Step 6, calibration finishes.
Claims (3)
1. a kind of target Calibration Method for removing foreign matter device based on laser, it is characterised in that: it is different that this method is based on laser removing
Object device, the device include turntable (1), laser part (2), control system, visual sensor (8)；Wherein, turntable (1) includes
Orientation component (9) and pitch components (10), orientation component (9) side of being mounted on the base, pitch components (10) are mounted on orientation portion
Above part (9), laser part (2) includes laser beam emitting head (21), and laser beam emitting head (21) and visual sensor (8) are mounted on and bow
It faces upward on component (10)；
Control system is connect with visual sensor (8), adjusts visual sensor (8) parameter, and visual sensor (8) is different for capturing
Image is transmitted to control system and carries out image recognition by object point；Control system respectively with orientation component (9), pitch components (10) phase
Even, control system handles the result of image recognition, and driving orientation component (9), pitch components (10) carry out orientation and bow
The rotation of two-freedom is faced upward, so that laser part (2) and visual sensor (8) be driven to rotate；
Method includes the following steps:
Step 1, white background board is set up immediately ahead of turntable, background board hangs down perpendicular to ground and with visual sensor (8) optical axis
Directly；Visual sensor is opened, visual sensor is made to carry out auto-focusing, when getting a clear view in visual sensor (8) picture, is protected
Hold focal length value at this time；
Step 2, the red visible for opening laser beam emitting head, projects it on background board, according to visual sensor (8) image
Red visible on middle background board, obtains the center pixel position of red visible in image as laser optical center position,
Coordinate position is (x1, y1, z1)；
Step 3, visual sensor (8) centre coordinate is (x0, y0, z0), is judged in visual sensor (8) optical axis on background board
Whether the relative position of heart point and red visible central point is absolutely fixed；If fixed, red visible transmitting position is accurate,
Mark is relatively completed, and terminates to execute；If being not fixed, the laser part progress for thening follow the steps 4 pairs of devices is mechanically calibrated；
Step 4, the mechanical location for harmonizing laser part makes the red visible central point issued and visual sensor (8) optical axis
Relative position of the central point under real coordinate system is fixed, and red visible and visual sensor (8) optical axis after calibration are made
The distance being kept fixed and direction, i.e., in above-mentioned visual sensor (8) centre coordinate and laser optical center position coordinates, y0=y1,
Have at a distance from fixed between z0=z1, x0 and x1；
Step 5, background board is moved to apart from turntable any position, visual sensor is made to carry out auto-focusing, when vision passes
When getting a clear view in sensor (8) picture, focal length value at this time, return step 2 are kept.
2. target Calibration Method according to claim 1, it is characterised in that: white background board described in step 1 is erected at
Immediately ahead of the turntable at 30-50m, background board is perpendicular to ground and vertical with visual sensor (8) optical axis.
3. target Calibration Method according to claim 1, it is characterised in that: background board described in step 5 is moved to distance
Any position of turntable 60-100m.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810624636.1A CN110488309A (en) | 2018-06-16 | 2018-06-16 | The target Calibration Method of foreign matter device is removed based on laser |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810624636.1A CN110488309A (en) | 2018-06-16 | 2018-06-16 | The target Calibration Method of foreign matter device is removed based on laser |
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| CN110488309A true CN110488309A (en) | 2019-11-22 |
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| CN201810624636.1A Pending CN110488309A (en) | 2018-06-16 | 2018-06-16 | The target Calibration Method of foreign matter device is removed based on laser |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111189838A (en) * | 2020-01-10 | 2020-05-22 | 广东利元亨智能装备股份有限公司 | Workpiece detection system and detection method |
| CN111629154A (en) * | 2020-05-26 | 2020-09-04 | 重庆中科云从科技有限公司 | Laser light center calibration method, system, equipment and medium |
| CN114198614A (en) * | 2021-12-08 | 2022-03-18 | 中林信达（北京）科技信息有限责任公司 | Photoelectric turntable suitable for automatic calibration of parallelism of optical axes of infrared and visible light cameras |
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| CN114198614A (en) * | 2021-12-08 | 2022-03-18 | 中林信达（北京）科技信息有限责任公司 | Photoelectric turntable suitable for automatic calibration of parallelism of optical axes of infrared and visible light cameras |
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Application publication date: 20191122 |