CN110601068A - Full-automatic dynamic laser aiming device and method - Google Patents
Full-automatic dynamic laser aiming device and method Download PDFInfo
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- CN110601068A CN110601068A CN201910730728.2A CN201910730728A CN110601068A CN 110601068 A CN110601068 A CN 110601068A CN 201910730728 A CN201910730728 A CN 201910730728A CN 110601068 A CN110601068 A CN 110601068A
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- 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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Abstract
The invention discloses a full-automatic dynamic laser aiming device and a full-automatic dynamic laser aiming method, which comprise the steps of collecting laser points and moving target pixels, roughly positioning a moving target by adopting an automatic laser aiming mode and accurately positioning the moving target by adopting a laser tracker. The device comprises a laser, a laser point and moving target pixel acquisition module, a coarse positioning module and a precise positioning module. The laser emits laser light; the laser spot and moving target pixel acquisition module is used for acquiring the pixel coordinates of the laser spot and the moving target; the laser aiming mode of the coarse positioning module comprises two modes, namely a laser point successive approximation mode and a laser point discrete point interpolation mode, and the two modes are used for performing coarse positioning on the moving target; the accurate positioning module realizes the accurate positioning of the target mass center by utilizing the small-range searching performance of the laser tracker.
Description
Technical Field
The invention relates to a sighting device, in particular to a full-automatic dynamic laser sighting device and a method, and belongs to the technical field of foreign matter removal of power transmission lines.
Background
With the laying of power lines, more and more power transmission lines face problems, such as plastics hung on the power transmission lines, foreign matters such as branches and the like can cause a plurality of short-circuit trips and the like, and the problems greatly threaten the line safety.
The traditional aiming laser barrier removing device is not easy to aim in the using process, and especially, when foreign matters move along with wind or by other factors, the mode of manual aiming is very inaccurate, and the efficiency is low.
Disclosure of Invention
The invention aims to solve the problems and provide a full-automatic dynamic laser aiming device and method.
The invention realizes the purpose through the following technical scheme: the utility model provides a full-automatic developments of laser sighting device, includes the developments sighting device, the developments sighting device comprises laser instrument, laser spot and motion target pixel acquisition module, thick orientation module and accurate orientation module, the laser instrument sends laser, laser spot and motion target pixel acquisition module can acquire the pixel coordinate of laser spot with the motion target, thick orientation module and accurate orientation module constitute this developments sighting device's laser sighting mode jointly.
Preferably, the laser spot and moving target pixel acquisition module performs horizontal rotation according to a stable vertical angle β through the laser tracker, if the laser spot and moving target pixel acquisition module do not rotate, the horizontal angle of the laser tracker is α, the area AOB of the moving target to be measured is an M point, after the position rotates by an angle of d α 1, the laser spot is an N point in the plane of the AOB, and if the laser rotates by an angle of d α 2, the laser spot is an L point in the AOB; setting the included angle value of the plane AOB to be measured and the plane xoy of the laser tracker to be the lowest, wherein the normal vector of the plane xoy is (0, 0, 1), the normal vector of the plane AOB is (A, B, 1), (sin beta cos alpha, cos beta, sin beta sin alpha) is the normal vector of the plane OMN, and the direction vector of the straight line OM is (cos alpha, -tan beta, sin alpha);
the planar AOB can be described as:
Ax+By+z+D＝0 (1)
the plane OMN swept by the laser tracker can be described as:
xsinβcosα+ycosβ+zsinβsinα＝0 (2)
the equation for the line OM can be described as:
the equation that can obtain the straight line MN based on equations (1) and (2) is:
the fused formulas (3) and (4) can acquire the pixel coordinates (x, y, z) of the M point of the moving target as follows:
the coordinates of the laser point N can be obtained in the same way:
preferably, the rough positioning module includes two laser aiming modes, namely a laser point successive approximation mode and a laser point discrete point interpolation mode.
Preferably, the precise positioning module can utilize the small-range searching performance of the laser tracker.
Preferably, the laser point successive approximation mode is in a visible area of the camera, and the moving object and the laser point can be observed.
Preferably, the laser point discrete point interpolation mode is based on aiming positioning mode of laser point discrete point interpolation.
The use method of the full-automatic dynamic laser aiming device comprises the following steps:
step 1, when foreign matters need to be removed, collecting the coordinates of a laser point and a moving target pixel through a laser tracker according to a moving model of the laser point;
step 2, shaping a laser automatic aiming mode, and automatically aiming the moving target through laser to complete the coarse positioning of the moving target;
step 3, completing laser positioning by using a discrete point difference method, distinguishing whether the laser is in a deviation area detected by the moving target, and if the laser is not in the deviation area detected by the moving target, performing coarse positioning on the moving target again;
and 4, finally, quickly locking the moving target through a laser tracker according to the reflected light generated when the laser moves to the moving target, so as to realize the accurate positioning of the moving target.
The invention has the beneficial effects that: the laser full-automatic dynamic aiming device and the method have reasonable design, firstly, the fiber laser is adopted to remove foreign matters, so that the device is safer and more reliable, and the safety of workers is effectively protected; and secondly, a full-automatic dynamic aiming system is adopted, so that the efficiency of workers is higher, and the stability is better.
Drawings
FIG. 1 is a schematic view of a laser spot motion model according to the present invention;
FIG. 2 is a schematic diagram illustrating a principle of laser dot discrete dot interpolation according to the present invention;
fig. 3 is a schematic diagram of the self-detection of the laser tracker of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Referring to fig. 1 to 3, a full-automatic dynamic laser aiming device includes a dynamic aiming device, the dynamic aiming device is composed of a laser, a laser spot and moving target pixel acquisition module, a coarse positioning module and a precise positioning module, the laser emits laser, the laser spot and moving target pixel acquisition module can acquire pixel coordinates of the laser spot and the moving target, and the coarse positioning module and the precise positioning module jointly form a laser aiming mode of the dynamic aiming device.
In the embodiment of the invention, the laser spot and moving target pixel acquisition module carries out horizontal rotation according to a stable vertical angle beta through a laser tracker, if the laser spot and moving target pixel acquisition module do not rotate, the horizontal angle of the laser tracker is alpha, M points are arranged in an area AOB of a detected moving target, after the position rotates by an angle of d alpha 1, the laser spot is N points in an AOB plane, and if the laser rotates by an angle of d alpha 2 at the horizontal angle alpha, the laser spot is L points in the AOB; the included angle value of the plane AOB to be measured and the plane xoy of the laser tracker is set to be the lowest, the normal vector of the plane xoy is (0, 0, 1), the normal vector of the plane AOB is (A, B, 1), (sin beta cos alpha, cos beta, sin beta sin alpha) is the normal vector of the plane OMN, and the direction vector of the straight line OM is (cos alpha, -tan beta, sin alpha).
The planar AOB can be described as:
Ax+By+z+D＝0 (1)
the plane OMN swept by the laser tracker can be described as:
xsinβcosα+ycosβ+zsinβsinα＝0 (2)
the equation for the line OM can be described as:
the equation that can obtain the straight line MN based on equations (1) and (2) is:
the fused formulas (3) and (4) can acquire the pixel coordinates (x, y, z) of the M point of the moving target as follows:
the coordinates of the laser point N can be obtained in the same way:
in the embodiment of the invention, the rough positioning module comprises two laser aiming modes, namely a laser point successive approximation mode and a laser point discrete point interpolation mode, and can be used for roughly positioning the moving target.
In the embodiment of the invention, the accurate positioning module can realize the accurate positioning of the target mass center by utilizing the small-range searching performance of the laser tracker.
In the embodiment of the invention, the laser spot successive approximation mode can observe a moving target and a laser spot in a visible area of a camera, can collect pixel coordinates of each frame of image, then compares the pixel coordinates of the laser spot and the target spot, controls the rotation direction and the rotation size of a laser tracker according to the difference, and repeatedly performs cycle analysis to finally meet the requirement, at the moment, the laser tracker stops running to approach the target spot by laser, the laser spot runs along the slope direction, if the pixel coordinates of the target spot are (XL, YL), the pixel coordinates of the laser spot are (XT, YT), at the moment, the linear slope of the laser spot pointing to the target spot can be calculated according to the pixel values of the target spot and the initial position of the laser spot, the rotation step length of the laser tracker in each time in the horizontal direction is delta, the rotation step length in the vertical direction is k delta, when the laser point moves to the next place, the subsequent moving target images are combined and operated, and the pixel size value between the moving target image and the laser point can be obtained. When the laser spot cannot be matched with the target spot due to the size of the target spot and hardware elements, the target spot is used as the origin, the pixel deviation value is determined as an allowable error range, and the laser spot and the target spot are not found to have errors when the laser spot exists in the allowable error range. If the laser point is far away from the area, the laser tracker can continuously run and track, the laser point runs into the set target point approval error area, and the laser tracker stops running, namely the rough positioning running is finished. Aiming and positioning can follow a successive approximation mode, moving target images continuously captured by a camera are analyzed, effective operation is carried out aiming at the operation of a laser point, the efficiency is improved in the process, and meanwhile, rapid coarse positioning is achieved for a target point.
In the embodiment of the invention, the laser point discrete point interpolation mode adopts laser to the original position of the laser point according to the aiming positioning form of the laser point discrete point interpolation under the condition that the laser aiming is openedAnd the laser point discrete point interpolation mode is based on the characteristic of combining successive approximation and discrete point interpolation adopted by automatic aiming, the laser positioning is completed by a discrete point difference method, whether the laser is in a deviation area of moving target detection is distinguished, and if the laser is not in the deviation area, the rough positioning can be performed by a successive approximation mode. Because the laser tracker does horizontal single-axis motion in a small area of a moving target, the laser point centroid in an image can be approximately linearly changed along the plane x-axis direction, the vertical single-axis motion in the small area only can cause the image of the laser point centroid to be approximately linearly changed along the plane y-axis direction, and then a laser point discrete point interpolation schematic diagram can be obtained, and if delta alpha and delta beta are the horizontal rotation angle and the vertical rotation angle of the laser tracker, the laser point is changed from P to PintTransfer to PtarThe corresponding laser spot pixel transition value under the image plane pixel coordinate system is (Δ u, Δ v), and the following holds:
wherein 4 parameters are alpha1、α2、b1、b2Respectively, the moving distances of the laser spot in the x-axis and y-axis directions. The laser tracker obtains more than two groups of corresponding values (delta u, delta v), (delta alpha, delta beta) as control points, namely 4 parameters alpha can be obtained by using a least square method1、b1、α2、b2. Namely, it is
Wherein, X1＝[α1，0，b1]T，X2＝[0，α2，b2]T，U＝[Δu1，Δu 2，…，Δu n]T，V＝[Δv1，Δv 2，…，Δv n]T，
Rewriting the formula (7) into a matrix form as described below:
then it can be obtained:
and (delta u, delta v) in the step (7) is replaced by the difference (X, Y) obtained by subtracting the pixel coordinate of the laser point after the jogging from the pixel coordinate of the target point, so that the rotation angle (delta alpha ', delta beta') of the laser tracker when the target is aimed and positioned can be obtained. According to the aiming and positioning form of laser point discrete point interpolation, under the condition that laser aiming is opened, the reflection planes of the original position and the target point position of the laser point are distinguished by adopting laser, so that the adverse influence of the environment on the laser aiming and positioning can be reduced. The operation mode of aiming and positioning can accurately and quickly lock the target point. The positioning model has the defect that the deviation of the laser mass center position causes the rotation angle obtained by the formula (10) to have higher difference. Therefore, the laser tracker is required to be used for accurately positioning the moving target, so that the detection precision of the moving target is improved.
The use method of the full-automatic dynamic laser aiming device comprises the following steps:
step 1, when foreign matters need to be removed, collecting the coordinates of a laser point and a moving target pixel through a laser tracker according to a moving model of the laser point;
step 2, shaping a laser automatic aiming mode, and automatically aiming the moving target through laser to complete the coarse positioning of the moving target;
step 3, completing laser positioning by using a discrete point difference method, distinguishing whether the laser is in a deviation area detected by the moving target, and if the laser is not in the deviation area detected by the moving target, performing coarse positioning on the moving target again;
and 4, finally, quickly locking the moving target through a laser tracker according to the reflected light generated when the laser moves to the moving target, so as to realize the accurate positioning of the moving target.
The working principle is as follows: when the foreign matters need to be removed, the method collects the pixel coordinates of the laser points and the moving targets according to the moving model of the laser points, shapes the automatic laser aiming mode, and automatically aims the moving targets through laser to finish the coarse positioning of the moving targets. And finally, the moving target is quickly locked by the laser tracker according to the reflected light generated when the laser moves to the moving target, so that the moving target is accurately positioned.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (7)
1. The utility model provides a full-automatic developments aiming device of laser, includes the developments aiming device, its characterized in that: the dynamic aiming device is composed of a laser, a laser point and moving target pixel acquisition module, a coarse positioning module and a precise positioning module, wherein the laser emits laser, the laser point and the moving target pixel acquisition module can acquire the pixel coordinates of the laser point and a moving target, and the coarse positioning module and the precise positioning module jointly form a laser aiming mode of the dynamic aiming device.
2. The full-automatic dynamic laser aiming device according to claim 1, characterized in that: the laser spot and moving target pixel acquisition module carries out horizontal rotation according to a stable vertical angle beta through a laser tracker, if the laser spot and moving target pixel acquisition module does not rotate, the horizontal angle of the laser tracker is alpha, M points are arranged in an area AOB of a measured moving target, after the position rotates by an angle of d alpha 1, a laser spot is an N point in an AOB plane, and if the laser rotates by an angle of d alpha 2 at the horizontal angle alpha, a laser spot is an L point in the AOB; setting the included angle value of the plane AOB to be measured and the plane xoy of the laser tracker to be the lowest, wherein the normal vector of the plane xoy is (0, 0, 1), the normal vector of the plane AOB is (A, B, 1), (sin beta cos alpha, cos beta, sin beta sin alpha) is the normal vector of the plane OMN, and the direction vector of the straight line OM is (cos alpha, -tan beta, sin alpha);
the planar AOB can be described as:
Ax+By+z+D＝0 (1)
the plane OMN swept by the laser tracker can be described as:
xsinβ cosα+ycosβ+zsinβ sinα＝0 (2)
the equation for the line OM can be described as:
the equation that can obtain the straight line MN based on equations (1) and (2) is:
the fused formulas (3) and (4) can acquire the pixel coordinates (x, y, z) of the M point of the moving target as follows:
the coordinates of the laser point N can be obtained in the same way:
3. the full-automatic dynamic laser aiming device according to claim 1, characterized in that: the rough positioning module comprises two laser aiming modes, namely a laser point successive approximation mode and a laser point discrete point interpolation mode.
4. The full-automatic dynamic laser aiming device according to claim 1, characterized in that: the precision positioning module can utilize the small-range searching performance of the laser tracker.
5. The fully automatic dynamic laser aiming device according to claim 3, characterized in that: the laser point successive approximation mode can observe a moving target and a laser point in a visible area of the camera.
6. The fully automatic dynamic laser aiming device according to claim 3, characterized in that: the laser point discrete point interpolation mode is based on the aiming and positioning mode of the laser point discrete point interpolation.
7. The use method of the full-automatic dynamic laser aiming device is characterized by comprising the following steps:
step 1, when foreign matters need to be removed, collecting the coordinates of a laser point and a moving target pixel through a laser tracker according to a moving model of the laser point;
step 2, shaping a laser automatic aiming mode, and automatically aiming the moving target through laser to complete the coarse positioning of the moving target;
step 3, completing laser positioning by using a discrete point difference method, distinguishing whether the laser is in a deviation area detected by the moving target, and if the laser is not in the deviation area detected by the moving target, performing coarse positioning on the moving target again;
and 4, finally, quickly locking the moving target through a laser tracker according to the reflected light generated when the laser moves to the moving target, so as to realize the accurate positioning of the moving target.
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