CN110736425B - Laser projection point coordinate measuring device and measuring method thereof - Google Patents
Laser projection point coordinate measuring device and measuring method thereof Download PDFInfo
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- CN110736425B CN110736425B CN201911002558.2A CN201911002558A CN110736425B CN 110736425 B CN110736425 B CN 110736425B CN 201911002558 A CN201911002558 A CN 201911002558A CN 110736425 B CN110736425 B CN 110736425B
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
- G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
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Abstract
The invention relates to a laser projection point coordinate measuring device and a measuring method thereof, belonging to the technical field of laser projection point coordinate measurement; the technical problem to be solved is as follows: the improvement of a hardware structure of a laser projection point coordinate measuring device and a measuring method thereof is provided; the technical scheme for solving the technical problem is as follows: the laser scanning device comprises a laser signal receiving unit and a laser signal scanning unit which are packaged in a shell, wherein the front surface of the laser signal receiving unit is used for receiving a laser beam emitted by a laser emitter, the laser beam irradiates on the shell of the laser signal receiving unit to form a laser irradiation point, and the back surface of the laser signal receiving unit is connected with the laser signal scanning unit; the signal output end of the laser signal scanning unit is connected with the microcontroller through a wire, the signal input end of the microcontroller is connected with the patch encoder, and the signal output end of the microcontroller is connected with the data storage module.
Description
Technical Field
The invention discloses a laser projection point coordinate measuring device and a measuring method thereof, and belongs to the technical field of laser projection point coordinate measuring.
Background
With the development of science and technology, the technology is continuously improved, the automation and the intellectualization of equipment in intelligent mines, military shooting training and shooting competitions become a necessary trend, and laser targets are widely applied as modern measuring equipment. In intelligent mine application, the traditional laser target is not high in precision, cannot adapt to a severe underground coal mining environment, is easily interfered by a severe external environment, and is unstable and inaccurate. With the continuous promotion and development of the important basic equipment industry in China, the laser target plays an important role in the pose measurement in a large-size space in the fields of large-size equipment butt joint, shield guidance, ship equipment and guidance, electric power energy equipment manufacturing and monitoring and the like.
The existing pose measurement faces the problems of large measurement space, high precision requirement, complex appearance of the measured object and the like, a single pose measurement method is difficult to meet the measurement requirement, and a combined measurement method based on combination of multiple measurement methods is gradually applied; the laser target pose measurement is a combined measurement method for completing measurement in a whole space by matching a laser target with measuring instruments such as a total station instrument or a laser tracker. Various types of laser targets are developed at home and abroad at present, wherein a laser target guiding system at home and abroad mainly comprises a British ZED system, a Germany VMT system and the like, and the used laser target mainly comprises a laser CCD camera, a double-shaft inclinometer and an embedded hardware platform.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to solve the technical problems that: the improvement of the hardware structure of the laser projection point coordinate measuring device and the measuring method thereof is provided.
In order to solve the technical problems, the invention adopts the technical scheme that: a laser projection point coordinate measuring device comprises a laser signal receiving unit and a laser signal scanning unit which are packaged in a shell, wherein the front surface of the laser signal receiving unit is used for receiving a laser beam emitted by a laser emitter, the laser beam irradiates on the shell of the laser signal receiving unit to form a laser irradiation point, and the back surface of the laser signal receiving unit is connected with the laser signal scanning unit;
the signal output end of the laser signal scanning unit is connected with a microcontroller through a wire, the signal input end of the microcontroller is connected with a patch encoder, the signal output end of the microcontroller is connected with a data storage module, the microcontroller is also connected with a data communication module in a bidirectional mode through a wire, and the data communication module is connected with a monitoring computer through an RS485 communication bus;
and the power supply input end of the microcontroller is connected with the power supply module.
The laser signal receiving unit is specifically an array formed by photosensitive diodes, and the types of the photosensitive diodes are B1701 PT-H9C-000114;
the chips used in the laser signal scanning unit are a 74HC595D control chip and a CD4051B control chip;
the chip used in the microcontroller is a control chip U1, and the model of the control chip U1 is STM32F103C8T 6;
the type of the patch encoder is CD10 RMOSB;
the chip used in the data communication module is a communication chip U2, and the model of the communication chip U2 is MAX 3485;
the chip used in the power module is a voltage stabilizing chip U3, and the model of the voltage stabilizing chip U3 is LM 1117.
The circuit structure of the microcontroller is as follows:
the pin 5 of the control chip U1 is connected with one end of a crystal oscillator XT1 in parallel and then connected with one end of a capacitor C6, the pin 6 of the control chip U1 is connected with the other end of a crystal oscillator XT1 in parallel and then connected with one end of a capacitor C8, and the other end of the capacitor C6 is connected with the other end of a capacitor C8 in parallel and then connected with one end of the capacitor C7 in parallel and then grounded;
the pin 7 of the control chip U1 is connected with the other end of the capacitor C7 in parallel, one end of a resistor R48 is connected with a reset switch SW3, and the other end of the resistor R48 is connected with a 3.3V input power supply;
the pins 21, 22 and 46 of the control chip U1 are all connected with a data communication module;
the pins 10, 11, 12, 13, 14, 18, 19, 20, 29, 30, 31, 32, 33, 39, 40, 41, 42 and 43 of the control chip U1 are all connected with the laser signal scanning unit.
The circuit structure of the data communication module is as follows:
the pin 1 of the communication chip U2 is connected with the pin 22 of the control chip U1;
the 2 pin of the communication chip U2 is connected with the 3 pin of the communication chip U2 in parallel and then is connected with the 46 pin of the control chip U1;
the pin 4 of the communication chip U2 is connected with the pin 21 of the control chip U1;
the pin 5 of the communication chip U2 is grounded;
the pin 6 of the communication chip U2 is connected with one end of a resistor R50 in parallel, and one end of a resistor R51 is connected with one end of an adjustable resistor PTC 2;
the pin 7 of the communication chip U2 is connected with the other end of the resistor R50 in parallel, and one end of the resistor R49 is connected with one end of the adjustable resistor PTC 1;
the other end of the resistor R51 is connected with a 3.3V input power supply, and the other end of the resistor R49 is grounded;
the other ends of the adjustable resistor PTC1 and the adjustable resistor PTC2 are connected with a data output port CN 2.
The circuit structure of the power supply module is as follows:
the pin 3 of the voltage stabilizing chip U3 is connected with one end of a capacitor C2, one end of a capacitor C1 and the cathode of a voltage stabilizing diode TVS1 in parallel and then connected with a power supply input end CN 1;
the 2 pin of the voltage stabilizing chip U3 is connected with one end of a capacitor C3 in parallel, and one end of a capacitor C4 is connected with a 3.3V input power supply in back;
the pin 1 of the voltage stabilizing chip U3 is connected in parallel with the anode of a voltage stabilizing diode TVS1, the other end of a capacitor C1, the other end of a capacitor C2, the other end of a capacitor C3 and the other end of a capacitor C4, and then grounded.
A laser projection point coordinate measuring method comprises the following steps:
the method comprises the following steps: the laser signal receiving unit is vertically arranged in a laser projection measuring area, a laser transmitter is arranged right in front of the laser signal receiving unit, and laser beams emitted by the laser transmitter are irradiated on the laser signal receiving unit;
step two: the laser signal scanning unit performs matrix scanning circulation operation on the row number and the column number of the photosensitive diode connected with the laser signal receiving unit and sends scanning signals to the data storage module for storage;
step three: the microcontroller performs image processing on the scanning signal, specifically: performing binarization processing on the laser signal, converting the laser signal into coordinate data through feature extraction operation, and finally storing the coordinate data of the laser spot in a data storage module;
step four: and the microcontroller uploads the obtained coordinate data of the laser point to a monitoring computer through a data communication module for further analysis and processing.
Compared with the prior art, the invention has the beneficial effects that: compared with the existing laser target for pose measurement, the laser projection point coordinate measuring device provided by the invention has the advantages that due to the use of the laser measuring points, the anti-interference performance to light rays in a use environment is good, the measurement accuracy is high, and in addition, the special laser signal receiving unit is arranged, so that the coordinates of a plurality of laser points can be identified and measured simultaneously; the whole device has simple structure and reliable installation and use, adopts the photosensitive tube array for collecting signals in a scanning mode, and has low manufacturing cost; laser signal receiving units in the device can be spliced into laser targets with different sizes, so that the device is more flexible to install and use, and the microcontroller can be matched with a patch encoder to detect laser emitting points with different wavelengths; the invention realizes the measurement and calculation of the coordinates of the laser emission point through the microcontroller, further calculates the position and posture of the underground machinery, and has wide application space.
Drawings
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of a circuit module according to the present invention;
FIG. 3 is a schematic circuit diagram of a laser signal receiving unit according to the present invention;
FIG. 4 is a schematic circuit diagram of a laser signal scanning unit according to the present invention;
FIG. 5 is a schematic circuit diagram of a microcontroller according to the present invention;
FIG. 6 is a circuit schematic of the data communication module of the present invention;
FIG. 7 is a circuit schematic of the power module of the present invention;
FIG. 8 is a flowchart illustrating the steps of the laser projection point coordinate measuring method of the present invention;
in the figure: the system comprises a laser signal receiving unit 1, a laser signal scanning unit 2, a microcontroller 3, a patch encoder 4, a data storage module 5, a data communication module 6, a monitoring computer 7 and a power module 8.
Detailed Description
As shown in fig. 1 to 8, the coordinate measuring device for a laser projection point of the present invention includes a laser signal receiving unit (1) and a laser signal scanning unit (2) which are enclosed in a housing, wherein the front surface of the laser signal receiving unit (1) is used for receiving a laser beam emitted by a laser emitter, the laser beam irradiates on the housing of the laser signal receiving unit (1) to form a laser irradiation point, and the back surface of the laser signal receiving unit (1) is connected with the laser signal scanning unit (2);
the signal output end of the laser signal scanning unit (2) is connected with the microcontroller (3) through a wire, the signal input end of the microcontroller (3) is connected with the patch encoder (4), the signal output end of the microcontroller (3) is connected with the data storage module (5), the microcontroller (3) is also connected with the data communication module (6) in a bidirectional mode through a wire, and the data communication module (6) is connected with the monitoring computer (7) through an RS485 communication bus;
and the power supply input end of the microcontroller (3) is connected with the power supply module (8).
The laser signal receiving unit (1) is specifically an array formed by photosensitive diodes, and the types of the photosensitive diodes are B1701 PT-H9C-000114;
the chips used in the laser signal scanning unit (2) are a 74HC595D control chip and a CD4051B control chip;
the chip used in the microcontroller (3) is a control chip U1, and the model of the control chip U1 is STM32F103C8T 6;
the type of the patch encoder (4) is CD10 RMOSB;
the chip used in the data communication module (6) is a communication chip U2, and the model of the communication chip U2 is MAX 3485;
the chip used in the power module (8) is a voltage stabilizing chip U3, and the model of the voltage stabilizing chip U3 is LM 1117.
The circuit structure of the microcontroller (3) is as follows:
the pin 5 of the control chip U1 is connected with one end of a crystal oscillator XT1 in parallel and then connected with one end of a capacitor C6, the pin 6 of the control chip U1 is connected with the other end of a crystal oscillator XT1 in parallel and then connected with one end of a capacitor C8, and the other end of the capacitor C6 is connected with the other end of a capacitor C8 in parallel and then connected with one end of the capacitor C7 in parallel and then grounded;
the pin 7 of the control chip U1 is connected with the other end of the capacitor C7 in parallel, one end of a resistor R48 is connected with a reset switch SW3, and the other end of the resistor R48 is connected with a 3.3V input power supply;
pins 9, 24, 36 and 48 of the control chip U1 are connected with a 3.3V input power supply;
2 pins, 3 pins and 4 pins of the control chip U1 are all connected with the patch encoder (4), and 25 pins, 26 pins, 27 pins and 28 pins of the control chip U1 are all connected with the patch encoder (4);
the pins 21, 22 and 46 of the control chip U1 are all connected with a data communication module (6);
the pins 10, 11, 12, 13, 14, 18, 19, 20, 29, 30, 31, 32, 33, 39, 40, 41, 42 and 43 of the control chip U1 are all connected with the laser signal scanning unit (2).
The circuit structure of the data communication module (6) is as follows:
the pin 1 of the communication chip U2 is connected with the pin 22 of the control chip U1;
the 2 pin of the communication chip U2 is connected with the 3 pin of the communication chip U2 in parallel and then is connected with the 46 pin of the control chip U1;
the pin 4 of the communication chip U2 is connected with the pin 21 of the control chip U1;
the pin 5 of the communication chip U2 is grounded;
the pin 6 of the communication chip U2 is connected with one end of a resistor R50 in parallel, and one end of a resistor R51 is connected with one end of an adjustable resistor PTC 2;
the pin 7 of the communication chip U2 is connected with the other end of the resistor R50 in parallel, and one end of the resistor R49 is connected with one end of the adjustable resistor PTC 1;
the other end of the resistor R51 is connected with a 3.3V input power supply, and the other end of the resistor R49 is grounded;
the other ends of the adjustable resistor PTC1 and the adjustable resistor PTC2 are connected with a data output port CN 2.
The circuit structure of the power supply module (8) is as follows:
the pin 3 of the voltage stabilizing chip U3 is connected with one end of a capacitor C2, one end of a capacitor C1 and the cathode of a voltage stabilizing diode TVS1 in parallel and then connected with a power supply input end CN 1;
the 2 pin of the voltage stabilizing chip U3 is connected with one end of a capacitor C3 in parallel, and one end of a capacitor C4 is connected with a 3.3V input power supply in back;
the pin 1 of the voltage stabilizing chip U3 is connected in parallel with the anode of a voltage stabilizing diode TVS1, the other end of a capacitor C1, the other end of a capacitor C2, the other end of a capacitor C3 and the other end of a capacitor C4, and then grounded.
A laser projection point coordinate measuring method comprises the following steps:
the method comprises the following steps: the laser signal receiving unit (1) is vertically arranged in a laser projection measuring area, a laser transmitter is arranged right in front of the laser signal receiving unit (1), and laser beams emitted by the laser transmitter are irradiated on the laser signal receiving unit (1);
step two: the laser signal scanning unit (2) performs matrix scanning circulation operation on the row number and the column number of the photosensitive diode connected with the laser signal receiving unit (1), and sends scanning signals to the data storage module (5) for storage;
step three: the microcontroller (3) performs image processing on the scanning signal, and specifically comprises the following steps: the laser signal is subjected to binarization processing, converted into coordinate data through characteristic extraction operation, and finally the coordinate data of the laser spot is stored in a data storage module (8);
step four: the microcontroller (3) uploads the obtained coordinate data of the laser point to a monitoring computer (7) through a data communication module (6) for further analysis and processing.
The invention provides a laser projection point coordinate measuring device, relates to a device for measuring a laser projection point coordinate, and is suitable for measuring the laser projection point coordinate in an environment without direct sunlight so as to meet the measurement application requirement on the position and posture of engineering machinery.
As shown in fig. 1 and 2, the structure of the invention is schematically illustrated, when in use, the invention is suspended or vertically placed in a driving tunnel, a laser transmitter is arranged on the engineering machinery in front of the device, a laser beam is emitted and projected onto the device, and a light source of a laser irradiation point is detected by a photosensitive tube array of the measuring device and then is subjected to scanning acquisition, image synthesis, image processing, coordinate conversion and the like by an internal single chip microcomputer controller to obtain a corresponding laser projection point coordinate.
As shown in fig. 3, the schematic arrangement diagram of the photodiode arrays of the single laser scanning unit provided by the present invention is shown, the present invention is formed by cascading a plurality of scanning units, and splicing them into a whole large screen, each scanning unit is formed by 40 × 40 photodiode arrays, the size specification of each scanning unit is 20cm × 20cm, the pitch of each photodiode in the scanning unit is 0.5cm × 0.5cm, and the size of the measuring device provided by the present invention can freely combine the plurality of scanning units into different sizes and shapes according to the specific project requirements.
Each laser signal receiving unit arranged in the measuring device is composed of 8 × 8 photodiodes, as shown in the figure, a PHOTO NPN is a photodiode used by the device, the model is B1701PT-H9C-000114, and the device is designed and manufactured by macro alignment technology, the spectrum range received by the photodiode is 400nm-110nm, the peak sensitive spectrum is 940nm, and the collector photocurrent value is 0.1-2.0mA due to different illumination intensity and spectrum ranges.
When the laser spot receiving device is used, when a certain photosensitive diode receives illumination in a certain frequency spectrum range, the controller scans the voltage change of the diodes on ROW (ROW) and COLUMN (COLUMN) lines connected with the photosensitive diode according to different illumination intensities and different on-resistances of the diodes, and acquires the position of a laser spot receiving point according to the voltage difference.
As shown in fig. 4, each of the laser scanning units is composed of 5 × 5 receiving units, and in order to sequentially control scanning of each row and each column of the laser scanning units, 10 74HC595D control chips having shift registers for 8-bit serial input and serial output are provided in the corresponding receiving unit; and 5 CD 4051B.
As shown in fig. 5, which is a schematic diagram of a controller circuit of a single laser scanning unit, the main controller adopts a model STM32F103C8T6, and is configured to collect row and column voltages of the laser scanning unit in real time, and obtain position information of a photodiode where a laser projection point is located through processing and calculating voltage signals, so as to obtain coordinates of the laser projection point.
It should be noted that, regarding the specific structure of the present invention, the connection relationship between the modules of the present invention is determined and can be realized, except for the specific description in the embodiments, the specific connection relationship can bring the corresponding technical effect, and the types and connection manners of the components, modules, and specific components in the present invention, except for the specific description, belong to the prior art such as the published patent, the published journal paper, or the common knowledge, which can be obtained by the skilled in the art before the application date, and need not be described in detail, so that the technical scheme provided in the present case is clear, complete and realizable, and can reproduce or obtain the corresponding entity product according to the technical means.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (4)
1. A laser projection point coordinate measuring device is characterized in that: the laser signal processing device comprises a laser signal receiving unit (1) and a laser signal scanning unit (2) which are packaged in a shell, wherein the front surface of the laser signal receiving unit (1) is used for receiving a laser beam emitted by a laser emitter, the laser beam irradiates the shell of the laser signal receiving unit (1) to form a laser irradiation point, and the back surface of the laser signal receiving unit (1) is connected with the laser signal scanning unit (2);
the signal output end of the laser signal scanning unit (2) is connected with the microcontroller (3) through a wire, the signal input end of the microcontroller (3) is connected with the patch encoder (4), the signal output end of the microcontroller (3) is connected with the data storage module (5), the microcontroller (3) is also connected with the data communication module (6) in a bidirectional mode through a wire, and the data communication module (6) is connected with the monitoring computer (7) through an RS485 communication bus;
the power supply input end of the microcontroller (3) is connected with the power supply module (8);
the laser signal receiving unit (1) is specifically an array formed by photosensitive diodes, and the types of the photosensitive diodes are B1701 PT-H9C-000114;
the chips used in the laser signal scanning unit (2) are a 74HC595D control chip and a CD4051B control chip;
the chip used in the microcontroller (3) is a control chip U1, and the model of the control chip U1 is STM32F103C8T 6;
the type of the patch encoder (4) is CD10 RMOSB;
the chip used in the data communication module (6) is a communication chip U2, and the model of the communication chip U2 is MAX 3485;
the chip used in the power supply module (8) is a voltage stabilizing chip U3, and the model of the voltage stabilizing chip U3 is LM 1117;
the measuring method using the laser projection point coordinate measuring device comprises the following steps:
the method comprises the following steps: the laser signal receiving unit (1) is vertically arranged in a laser projection measuring area, a laser transmitter is arranged right in front of the laser signal receiving unit (1), and laser beams emitted by the laser transmitter are irradiated on the laser signal receiving unit (1);
step two: the laser signal scanning unit (2) performs matrix scanning circulation operation on the row number and the column number of the photosensitive diode connected with the laser signal receiving unit (1), and sends scanning signals to the data storage module (5) for storage;
step three: the microcontroller (3) performs image processing on the scanning signal, and specifically comprises the following steps: the laser signal is subjected to binarization processing, converted into coordinate data through characteristic extraction operation, and finally the coordinate data of the laser spot is stored in a data storage module (8);
step four: the microcontroller (3) uploads the obtained coordinate data of the laser point to a monitoring computer (7) through a data communication module (6) for further analysis and processing.
2. The laser projection point coordinate measuring device of claim 1, wherein: the circuit structure of the microcontroller (3) is as follows:
the pin 5 of the control chip U1 is connected with one end of a crystal oscillator XT1 in parallel and then connected with one end of a capacitor C6, the pin 6 of the control chip U1 is connected with the other end of a crystal oscillator XT1 in parallel and then connected with one end of a capacitor C8, and the other end of the capacitor C6 is connected with the other end of a capacitor C8 in parallel and then connected with one end of the capacitor C7 in parallel and then grounded;
the pin 7 of the control chip U1 is connected with the other end of the capacitor C7 in parallel, one end of a resistor R48 is connected with a reset switch SW3, and the other end of the resistor R48 is connected with a 3.3V input power supply;
pins 9, 24, 36 and 48 of the control chip U1 are connected with a 3.3V input power supply;
2 pins, 3 pins and 4 pins of the control chip U1 are all connected with the patch encoder (4), and 25 pins, 26 pins, 27 pins and 28 pins of the control chip U1 are all connected with the patch encoder (4);
the pins 21, 22 and 46 of the control chip U1 are all connected with a data communication module (6);
the pins 10, 11, 12, 13, 14, 18, 19, 20, 29, 30, 31, 32, 33, 39, 40, 41, 42 and 43 of the control chip U1 are all connected with the laser signal scanning unit (2).
3. The laser projection point coordinate measuring device of claim 2, wherein: the circuit structure of the data communication module (6) is as follows:
the pin 1 of the communication chip U2 is connected with the pin 22 of the control chip U1;
the 2 pin of the communication chip U2 is connected with the 3 pin of the communication chip U2 in parallel and then is connected with the 46 pin of the control chip U1;
the pin 4 of the communication chip U2 is connected with the pin 21 of the control chip U1;
the pin 5 of the communication chip U2 is grounded;
the pin 6 of the communication chip U2 is connected with one end of a resistor R50 in parallel, and one end of a resistor R51 is connected with one end of an adjustable resistor PTC 2;
the pin 7 of the communication chip U2 is connected with the other end of the resistor R50 in parallel, and one end of the resistor R49 is connected with one end of the adjustable resistor PTC 1;
the other end of the resistor R51 is connected with a 3.3V input power supply, and the other end of the resistor R49 is grounded;
the other ends of the adjustable resistor PTC1 and the adjustable resistor PTC2 are connected with a data output port CN 2.
4. The laser projection point coordinate measuring device of claim 3, wherein: the circuit structure of the power supply module (8) is as follows:
the pin 3 of the voltage stabilizing chip U3 is connected with one end of a capacitor C2, one end of a capacitor C1 and the cathode of a voltage stabilizing diode TVS1 in parallel and then connected with a power supply input end CN 1;
the 2 pin of the voltage stabilizing chip U3 is connected with one end of a capacitor C3 in parallel, and one end of a capacitor C4 is connected with a 3.3V input power supply in back;
the pin 1 of the voltage stabilizing chip U3 is connected in parallel with the anode of a voltage stabilizing diode TVS1, the other end of a capacitor C1, the other end of a capacitor C2, the other end of a capacitor C3 and the other end of a capacitor C4, and then grounded.
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| 可编程动态靶标的研究;张波;《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》;20040315(第1期);第31-39页 * |
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