CN110873558B - Distance and attitude angle measuring device and method - Google Patents
Distance and attitude angle measuring device and method Download PDFInfo
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- CN110873558B CN110873558B CN201911118795.5A CN201911118795A CN110873558B CN 110873558 B CN110873558 B CN 110873558B CN 201911118795 A CN201911118795 A CN 201911118795A CN 110873558 B CN110873558 B CN 110873558B
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention belongs to the technical field of photoelectric measurement, and provides a distance and attitude angle measuring device and a measuring method, wherein the measuring device comprises measuring equipment and a target plate; the measuring equipment comprises a connecting frame, an image sensor, a projection laser and an optical lens, wherein the image sensor, the projection laser and the optical lens are arranged on the connecting frame; the target plate is fixed on the measured object; the projection laser is used for emitting laser beams to the target plate, and the target plate forms a target point measuring point after being irradiated by the laser beams; the optical lens images the target point measuring point on the image sensor, and the image sensor detects the image of the target point measuring point and sends the image to the processor; and the processor calculates the distance from the measured object to the measuring equipment and the attitude angle of the measured object according to the detection data. The synchronous measurement of distance and attitude angle when this application realizes in same set of opto-electrical system for measuring equipment simple structure, it is small, can realize far away distance non-contact measurement.
Description
Technical Field
The invention relates to the technical field of photoelectric measurement, in particular to a distance and attitude angle measuring device and method.
Background
The distance and attitude measurement belongs to an important component of measurement science, and has extremely important significance and effect in many fields such as aerospace, automobile manufacturing, industrial measurement, precision machining, instrument manufacturing and the like. Due to the wide application, various research units at home and abroad carry out a great deal of research and develop various measurement methods. The method applied to distance measurement mainly comprises the following steps: pulse laser ranging technology, phase laser ranging technology, binocular intersection ranging technology, and the like. Usually, when the distance and the attitude angle are measured simultaneously, one or more technologies are selected to be combined according to the measurement requirements in different environments, so as to meet the measurement requirements. However, the above methods often encounter some common problems in a specific measurement environment, such as complex measurement structure, high cost of measurement equipment, poor interference resistance, large volume of measurement equipment, and difficulty in implementing small embedded equipment application.
Specifically, although there are a plurality of position and orientation measurement methods, when the two methods are to be measured simultaneously, different measurement means are respectively adopted, and the measurement processes are independent, so that the measurement structure is very complicated. In addition, when the attitude is measured by using methods such as a gyroscope, an accelerometer and the like, a plurality of sensors are often needed, so that the equipment cost is increased. The adoption of the theodolite intersection measurement not only has high cost, but also has larger equipment volume, and is difficult to realize the measurement with simple structure. In addition, the existing laser ranging technology is based on laser point measurement, if there are strong interference light sources in the measurement background, such as direct sunlight, direct light of lamp, and stray light reflected by various reflecting surfaces. The light spots have different shapes, and interference is caused as long as the light spots are in the receiving visual field, so that the measurement accuracy is greatly influenced. Furthermore, the existing equipment often separates the ranging from the measuring attitude, adopts different sensors, and cannot share data. Therefore, the measuring device is relatively bulky. Due to the volume limitation, the technology is difficult to be applied to small embedded devices, which affects the popularization and application of the technology in some fields.
Therefore, a new technical solution is needed to solve the above technical problems.
Disclosure of Invention
The embodiment of the invention provides a distance and attitude angle measuring device and a distance and attitude angle measuring method, which aim to solve the problems that measuring equipment in the existing distance and attitude angle measuring method is large in size, cannot be compatible with embedded equipment and is poor in anti-interference performance.
A first aspect of an embodiment of the present invention provides a distance and attitude angle measuring apparatus, including a measuring device and a target board;
the measuring equipment comprises a connecting frame, and an image sensor, a projection laser and an optical lens which are arranged on the connecting frame, wherein the image sensor and the projection laser are positioned in the same horizontal plane and are fixed in relative positions; the target plate is a metal flat plate with specified reflectivity and size and is fixed on a measured object;
the projection laser is used for emitting laser beams to the target plate, and the target plate forms a target point measuring point after being irradiated by the laser beams; the optical lens images the target point measuring point on the image sensor, the image sensor detects the image of the target point measuring point and sends detection data to a processor;
and after receiving the detection data, the processor calculates the distance from the measured object to the measuring equipment according to the triangular relation among the image sensor, the projection laser and the target point measuring point, and calculates the attitude angle of the measured object through angle calibration.
Optionally, the laser beam emitted by the projection laser is a cross laser beam, accordingly, the target plate forms a cross line after being irradiated by the laser beam, and a cross point of the cross line is the target measurement point.
Optionally, the projection laser is a red semiconductor laser.
Optionally, the calculating a distance from the measured object to the measuring device according to a trigonometric relationship between the image sensor, the projection laser, and the target point measuring point includes:
acquiring a linear distance AC between the image sensor and the projection laser;
drawing a triangle ABC according to the position relation between the target measuring point and the image sensor and the projection laser, wherein A is the position of the image sensor, B is the position of the target measuring point, and C is the position of the projection laser;
obtaining an included angle alpha between AC and BC, an included angle beta between CA and AB and an included angle theta between AB and BC;
by the formula
And calculating the distance BD from the measured object to the measuring equipment.
The attitude angle phi is obtained in a calibration mode, firstly, an included angle omega of the cross image, namely a straight line a and a straight line b, obtained on the image sensor is obtained through image processing, meanwhile, the attitude angle phi at the moment is calibrated, and one-to-one corresponding relation of the attitude angle phi is obtained through multiple times of calibration.
Optionally, the processor is a general DSP image processing platform.
A second aspect of an embodiment of the present invention provides a method for measuring a distance and an attitude angle, which is applied to any one of the measuring apparatuses described in the first aspect, and includes:
after the measuring device is electrified, the projection laser projects laser beams to the target plate;
after the target plate is irradiated by the laser beam, a target point measuring point is formed;
the optical lens images the target point measuring point on an image sensor so that the image sensor detects the image of the target point measuring point and sends detection data to a processor;
and after receiving the detection data, the processor calculates the distance from the measured object to the measuring equipment according to the triangular relation among the image sensor, the projection laser and the target point measuring point, and calculates the attitude angle of the measured object through angle calibration.
Optionally, the laser beam emitted by the projection laser is a cross laser beam, accordingly, the target plate forms a cross line after being irradiated by the laser beam, and a cross point of the cross line is the target measurement point.
Optionally, the projection laser is a red semiconductor laser.
Optionally, the calculating a distance from the measured object to the measuring device according to a trigonometric relationship between the image sensor, the projection laser, and the target point measuring point includes:
acquiring a linear distance AC between the image sensor and the projection laser;
drawing a triangle ABC according to the position relationship between the target measuring point and the image sensor and the projection laser, wherein A is the position of the image sensor, B is the position of the target measuring point, and C is the position of the projection laser;
obtaining an included angle alpha between AC and BC, an included angle beta between CA and AB and an included angle theta between AB and BC;
by the formula
And calculating the distance BD from the measured object to the measuring equipment.
Optionally, the processor is a general DSP image processing platform.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: the distance and attitude angle measurement device provided by the application realizes simultaneous and synchronous measurement of the distance and the attitude angle in the same set of opto-electrical system, so that the measurement equipment has a simple structure and a small volume, can realize long-distance non-contact measurement, and has the maximum measurement distance of 10 m; the target measurement point is determined by irradiation of a laser method, so that the interference of other light spots in the image can be filtered, and the whole day outdoor measurement under sunlight and lamplight is realized; in addition, the attitude measurement is carried out by adopting the method of actively projecting laser, so that the sensors such as a gyroscope, an accelerometer and the like which are seriously influenced by the measurement environment can be avoided, and the measurement data has higher reliability.
Drawings
In order to more clearly illustrate the technical method of the embodiments of the present invention, the drawings required in the embodiments or the prior art description are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive labor.
Fig. 1 is a schematic structural diagram of a distance and attitude angle measuring apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a measurement provided by the present invention;
FIG. 3 is a schematic diagram of an attitude angle measurement provided by an embodiment of the present invention;
fig. 4 is a schematic flow chart illustrating an implementation of a distance and attitude angle measuring method according to another embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
Fig. 1 is a schematic diagram of a distance and attitude angle measuring apparatus provided by an embodiment of the present invention, which includes a measuring device 1 and a target board 2;
the measuring device 1 comprises a connecting frame 11, an image sensor 12, a projection laser 13 and an optical lens 14, wherein the image sensor 12, the projection laser 13 and the optical lens 14 are arranged on the connecting frame, and the image sensor 12 and the projection laser 13 are positioned in the same horizontal plane and are fixed in relative positions; the target plate 2 is a metal flat plate with specified reflectivity and size and is fixed on a measured object;
the projection laser 13 is configured to emit a laser beam to the target plate 2, and the target plate 2 forms a target point measurement point after being irradiated by the laser beam; the optical lens 14 images the target point measuring point on the image sensor 12, the image sensor 12 detects the image of the target point measuring point, and sends the detection data to the processor 15;
after receiving the detection data, the processor 15 calculates the distance from the object to be measured to the measuring device according to the triangular relationship among the image sensor 12, the projection laser 13 and the target point measuring point, and calculates the attitude angle of the object to be measured through angle calibration.
Specifically, the distance and attitude angle measuring device of the present invention is composed as shown in fig. 1, and is divided into two parts, a measuring device and a target plate, because it is necessary to measure the relative distance and attitude angle between two distant points. The measuring device mainly comprises an optical lens 14, an image sensor 12, a processing platform 15, a projection laser 13 and a connecting frame 11 for bearing; the target board 2 only contains the cooperation target board 21.
Further, the optical lens 14 may be a mature industrial lens, and may select a proper focal length and aperture according to the measurement environment, in this example, an optical lens with a focal length of 200mm and an aperture of 20mm is adopted. The image sensor 12 can also select a general industrial camera, and select an appropriate pixel size and resolution according to the measurement environment, in this example, a camera with a pixel size of 6 μm and a resolution of 1024 × 1024. The processing platform 15 is a general DSP image processing platform and can acquire image data in real time. The projection laser 13 uses a cross laser beam. The connecting frame 11 is a customized mechanical frame, and mainly plays a role in bearing the above components and keeping the structure stable. The target plate 2 is a smooth flat metal plate with a certain reflectivity. In this example, an aluminum plate was used for painting, and a flat plate having a reflectivity of 10% in the laser light band was used.
The main component structure of the present invention will be further described in detail with reference to the accompanying drawings, and the structure and the function of the main components of the whole system are as follows:
the measuring device 1 is a main body part of the measuring device and performs the functions of projecting laser beams, preferably, projecting cross-line laser, receiving the image reflected by the target plate and processing the data to obtain a measuring result. The respective components are described in detail below.
The optical lens 14, the image sensor 12 and the projection laser 13 are mounted and fixed on the link frame 11, and the processing platform 15 may be mounted on the link frame 11 or may be provided at another position. The image sensor 12 and the projection laser 13 are the main components for measurement, and the installation position and angle thereof have a direct influence on the measurement accuracy. The mounting location point is shown in fig. 2.
In fig. 2, the xCy plane is a horizontal plane, a point a is a position of a light emitting point of the projection laser 13, a point B is an image point of the laser cross line center irradiated on the target plate 2, and an AB direction is a laser projection direction; the point C is the equivalent center of the image detector, and the direction CB is the optical axis direction of the optical lens.
The projection laser 13 provides reticle markings for the measurement and a red semiconductor laser may be used. Not only ensures clear detectability, but also has good atmospheric permeability. The recommended power of the light source is 1mW, so that the intensity is high, and the human eye injury cannot be caused in the measurement range.
The optical lens 14 is an imaging part that images the cross image projected onto the target plate onto the image sensor, and its imaging quality and focal length are the main determinants of the measurement accuracy. And selecting a proper focal length according to the required measuring distance and the measuring precision requirement.
The image sensor 12 collects reticle image data imaged through the optical lens and sends the data to the processing stage 15. The main parameters of the image sensor 12 are image resolution and pixel size, which are selected according to the required measurement distance range, and in the 10m measurement range, 1024 × 1024 resolution and 6 μm pixel size are recommended. The processing platform 15 requires a hardware platform having an image input interface and having an image processing capability, and a DSP processing platform may be employed.
The target plate 2 is placed at the measured point and is a flat plate with a certain reflectivity. The flat plate needs to have a certain size to ensure that the laser for projecting the cross line can be projected on the plane, the surface is smooth, the laser for projecting the cross line is projected on the cooperation target plate, and a cross image with a certain included angle is formed. The flat plate is ensured to be vertical to the horizontal plane by adjusting the horizontal mode.
Fig. 4 shows a flowchart of a measurement method corresponding to the measurement apparatus provided in the present application, including:
and 41, after the measuring device is electrified, the projection laser projects laser beams to the target plate.
And 42, forming a target point measuring point after the target plate is irradiated by the laser beam.
and 44, after receiving the detection data, the processor calculates the distance from the measured object to the measuring equipment according to the triangular relation among the image sensor, the projection laser and the target point measuring point, and calculates the attitude angle of the measured object through angle calibration.
Specifically, the measuring objects of the present application are the distance from the target point to the measuring end and the included angle between the target point plane and the measuring end plane. The distance measurement principle is described with reference to fig. 2-3:
according to the triangular relation, the BD is the distance between the target and the measuring device. The calculation formula is as follows:
wherein, AC is a fixed value and can accurately calibrate a numerical value, beta is a fixed value and can accurately calibrate a numerical value, alpha angle is calculated through the position of the image sensor, and theta angle is calculated through the sum of internal angles of the triangle.
The target board is placed vertically to the ground by adjusting horizontally, so that the attitude phi angle thereof is a one-dimensional quantity, i.e. a rotation angle along the direction vertical to the ground. Because the transformation of the angle can synchronously influence the included angle of the laser cross line, the measurement of the angle quantity adopts a calibration method, namely the included angle and the corresponding rotation angle of the laser cross line are respectively measured, and the corresponding relation is determined by a data fitting method. At present, the one-dimensional attitude angle measuring method mainly comprises an auto-collimation method, a binocular measuring method and a photoelectric encoder method. The autocollimation method has high measurement precision, but the measurement range is very small; the binocular measurement has higher measurement precision and larger measurement range, and has the defects of larger equipment, longer base line, common use as independent equipment and less integration into single equipment; the photoelectric encoder has high measurement accuracy, but belongs to non-contact measurement, and cannot realize space remote measurement.
Therefore, the present example uses a calibration method to obtain the attitude angle. Firstly, according to a cross image obtained on the image sensor, namely a straight line a and a straight line b, an included angle omega is obtained through image processing, the attitude angle phi at the moment is calibrated, and one-to-one corresponding relation is obtained through multiple times of calibration.
The specific measurement process is described in connection with fig. 4:
after the power is switched on, the projection laser projects a cross laser beam to the target plate, and the measuring end receives a cross laser image on the target plate through the optical lens. The image sensor collects image information, generates data and sends the data to the processing platform. And the processing platform performs software processing, firstly, performs edge processing on the acquired cross line image to obtain the edge of the cross line, and fits the two lines to obtain the image data of the intersection point. Then, the center of gravity of the intersection data is processed to obtain the position coordinates of the intersection, and the size of & _ DCB can be obtained according to the coordinates and used for distance calculation. Then, the slope of the two straight lines is obtained through image processing, the included angle of the two straight lines is calculated, and attitude angle measurement is carried out through the included angle. And outputting and displaying the processed result.
Multiple tests after an experiment platform is built show that the method is feasible in measurement and the precision meets the expected effect; distance measurement range: 1m to 10 m; distance measurement accuracy: 0.02 mm; attitude angle measurement range: 5 degrees; the attitude angle measurement precision is as follows: 1'.
It should be noted that the optical lens, the image sensor and the projection laser used in the present invention are all commercially available general industrial devices, and can be customized if the volume and weight of the measurement device are required. Wherein, the focal length and the caliber of the optical lens can be properly modified; the size of the image surface of the image sensor can be changed into a device with a larger area array; the projection laser may also be modified in wavelength as desired.
The distance and attitude angle measurement device provided by the application realizes simultaneous and synchronous measurement of the distance and the attitude angle in the same set of opto-electrical system, so that the measurement equipment has a simple structure and a small volume, can realize long-distance non-contact measurement, and has the maximum measurement distance of 10 m; the target measurement point is determined by irradiation of a laser method, so that the interference of other light spots in the image can be filtered, and the whole day outdoor measurement under sunlight and lamplight is realized; in addition, the attitude measurement is carried out by adopting the method of actively projecting laser, so that the sensors such as a gyroscope, an accelerometer and the like which are seriously influenced by the measurement environment can be avoided, and the measurement data has higher reliability.
The above examples are intended to be illustrative of the invention, and not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A distance and attitude angle measuring apparatus, characterized in that the measuring apparatus comprises a measuring device and a target plate;
the measuring equipment comprises a connecting frame, and an image sensor, a projection laser and an optical lens which are arranged on the connecting frame, wherein the image sensor and the projection laser are positioned in the same horizontal plane and are fixed in relative positions; the target plate is a metal flat plate with specified reflectivity and size and is fixed on a measured object;
the projection laser is used for emitting laser beams to the target plate, and the target plate forms a target point measuring point after being irradiated by the laser beams; the optical lens images the target point measuring point on the image sensor, the image sensor detects the image of the target point measuring point and sends detection data to a processor;
after the processor receives the detection data, the distance from the measured object to the measuring equipment is calculated according to the triangular relation among the image sensor, the projection laser and the target point measuring point, the attitude angle of the measured object is calibrated at the same time by processing the included angle of the cross line obtained on the image sensor, and the attitude angle of the measured object is calibrated for multiple times to obtain an angle calibration method of one corresponding relation, the attitude angle of the measured object is calculated, and the direction of the connecting line of the equivalent center of the image detector and the image point on the target plate is the optical axis direction of the optical lens;
the laser beam emitted by the projection laser is a cross laser beam, correspondingly, the target plate forms a cross line after being irradiated by the laser beam, the cross point of the cross line is a target measuring point, and the size of the reflection angle is calculated by utilizing the position coordinate of the cross point and is used for distance calculation.
2. The distance and attitude angle measuring device according to claim 1, wherein the projection laser is a red semiconductor laser.
3. The apparatus for measuring distance and attitude angle according to claim 2, wherein said calculating the distance of the object to be measured from the measuring device based on the trigonometric relationship between the image sensor, the projection laser, and the target point measuring point comprises:
acquiring a linear distance AC between the image sensor and the projection laser;
drawing a triangle ABC according to the position relation between the target measuring point and the image sensor and the projection laser, wherein A is the position of the image sensor, B is the position of the target measuring point, and C is the position of the projection laser;
obtaining an included angle between AC and BC as a reflection angle alpha, an included angle beta between CA and AB and an included angle theta between AB and BC;
by the formula
And calculating the distance BD from the measured object to the measuring equipment.
4. The distance and attitude angle measuring device according to claim 3, wherein the processor is a general purpose DSP image processing platform.
5. A distance and attitude angle measuring method applied to the measuring apparatus according to any one of claims 1 to 4, comprising:
after the measuring device is electrified, the projection laser projects laser beams to the target plate;
after the target plate is irradiated by the laser beam, a target point measuring point is formed;
the optical lens images the target point measuring point on an image sensor so that the image sensor detects the image of the target point measuring point and sends detection data to a processor;
and after receiving the detection data, the processor calculates the distance from the measured object to the measuring equipment according to the triangular relation among the image sensor, the projection laser and the target point measuring point, and calculates the attitude angle of the measured object through angle calibration.
6. The method for measuring distance and attitude angle according to claim 5, wherein the laser beam emitted from the projection laser is a cross laser beam, and accordingly, the target plate forms a cross line after being irradiated with the laser beam, and the intersection point of the cross line is the target measurement point.
7. The method for measuring distance and attitude angle according to claim 5 or 6, wherein the projection laser is a red semiconductor laser.
8. The method of measuring distance and attitude angle according to claim 7, wherein said calculating the distance of the object to be measured to the measuring device according to the trigonometric relationship between the image sensor, the projection laser, and the target point measuring point comprises:
acquiring a linear distance AC between the image sensor and the projection laser;
drawing a triangle ABC according to the position relation between the target measuring point and the image sensor and the projection laser, wherein A is the position of the image sensor, B is the position of the target measuring point, and C is the position of the projection laser;
obtaining an included angle alpha between AC and BC, an included angle beta between CA and AB and an included angle theta between AB and BC;
by the formula
And calculating the distance BD from the measured object to the measuring equipment.
9. The method of measuring distance and attitude angle of claim 7, wherein the processor is a general purpose DSP image processing platform.
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| CN101776757A (en) * | 2010-02-09 | 2010-07-14 | 卢波 | Method for measuring distances |
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| CN101750012A (en) * | 2008-12-19 | 2010-06-23 | 中国科学院沈阳自动化研究所 | Device for measuring six-dimensional position poses of object |
| CN101776757A (en) * | 2010-02-09 | 2010-07-14 | 卢波 | Method for measuring distances |
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