CN111551193A - Laser target calibration method based on precise two-axis turntable - Google Patents
Laser target calibration method based on precise two-axis turntable Download PDFInfo
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- CN111551193A CN111551193A CN202010448669.2A CN202010448669A CN111551193A CN 111551193 A CN111551193 A CN 111551193A CN 202010448669 A CN202010448669 A CN 202010448669A CN 111551193 A CN111551193 A CN 111551193A
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
The invention discloses a laser target calibration method based on a precise two-axis turntable, which comprises the following steps: the precise two-axis turntable and the to-be-calibrated rotating table rotate together, and a translation conversion matrix from a beam expanding laser coordinate system to a laser target coordinate system is calculated; the expanded beam laser is used as a calibrated optical reference point and is fixed in front of the two-axis turntable; the laser target to be calibrated and the rotary table rotate transversely together, a camera in the laser target shoots incident light of the expanded beam laser and records the spot mass center of the incident light in real time, so that the incident light and the spot mass center correspond to each other one by one, and the calibration of the transverse shaft and the longitudinal shaft of the laser target is completed; the invention is suitable for completing high-precision laser target calibration in a short time and in a small experimental range.
Description
Technical Field
The invention relates to a laser target calibration technology, in particular to a laser target calibration method based on a precise two-axis turntable.
Background
Currently, an automatic guidance system is a key component for measuring the position of a shield (TBM), wherein during the tunneling process of the shield, the automatic guidance system continuously measures the deviation of the shield relative to the designed tunnel axis and provides the measured data to a main driver, so that the main driver can adjust the tunneling parameters in time, and the shield can precisely tunnel along the designed axis all the time.
In order to ensure the precision, stability and reliability of the automatic guiding system, the absolute pose of the shield machine in a three-dimensional space needs to be determined, six parameters, namely a three-dimensional space coordinate and a three-dimensional attitude are needed, wherein the measurement of three line elements (X, Y, Z) is completed by a total station, two of three angle elements, namely a slope angle and a roll angle of a shield axis relative to a horizontal plane, are measured by an inclinometer, and the measurement of a third angle element, namely an included angle (a yaw angle) between the shield axis and a designed tunnel axis on the horizontal plane, is a key of the whole measurement process, and the measurement result of the included angle can influence the precision, stability and reliability of the whole automatic guiding system. According to the yaw angle measuring method, the automatic guidance system uses a gyro method, a double (triple) prism method, and a laser target method.
However, the gyroscope method and the double (tri) prism method have the defects of low measurement precision, strong manual dependence and the like, and the main method adopted by the automatic guidance system at present is a laser target method. The method for measuring has the advantages of high precision, stable and reliable performance, small required measuring window and the like.
Therefore, the calibration of the laser target becomes the basis for the measurement of the automatic guiding system. The aim of laser target calibration is to make the spot centroid correspond to the light incidence angle one to one. The relative positions of the camera and the inclinometer are different when each laser target is assembled, so that each laser target needs to be calibrated, and the corresponding relation between the center of mass and the angle of the light panel under the assembly is determined. The traditional laser target calibration system based on a one-axis turntable is characterized in that a laser target is placed on a one-dimensional turntable, a total station locks the laser target, the total station keeps still, the one-dimensional turntable is rotated, the mass center coordinate changes correspondingly, the relation between the mass center coordinate and the rotation angle of the turntable is recorded, and the calibration of a transverse axis can be completed; the laser target needs to be turned over by 90 degrees, and the step of calibrating the transverse axis is repeated, so that the calibration of the longitudinal axis can be completed.
Aiming at the technical problems, how to provide a laser target calibration system which is convenient and has low repeatability becomes a long-term appeal for technical personnel in the field.
Disclosure of Invention
In order to overcome the defects in the background technology, the invention provides a laser target calibration system based on a precise two-axis turntable, wherein the two-axis turntable is fixed on an optical platform, a laser target to be calibrated is fixed on a tool of the two-axis turntable, and a beam expanding laser is arranged at the front position; the defect that the rotary table needs to be continuously rotated when the one-dimensional rotary table is used for calibration is effectively overcome, the calibration accuracy is improved, and the calibration efficiency is greatly improved.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the laser target calibration system comprises a beam expanding laser, a high-precision two-axis rotary table, a to-be-calibrated laser target connected with the two-axis rotary table and a calibration terminal connected with the two-axis rotary table, wherein the beam expanding laser is fixed at one end of the horizontal diameter of the high-precision two-axis rotary table, and a transmitting port of the beam expanding laser points to one end of a prism of the to-be-calibrated laser target. The calibration process comprises the following steps:
a. and placing the laser target to be calibrated on a tool connected with the precise two-axis turntable, and reading the inclinometer data and the light spot mass center data of the laser target to be calibrated in real time.
b. And leveling the precise two-axis turntable, so that when the precise two-axis turntable and the laser target rotate together, the inclination angle instrument data of the laser target to be calibrated are within 0.0010.
c. And searching a rolling center.
d. And calibrating the transverse and longitudinal axes of the laser target.
In the step c, the step of finding the rolling center is as follows:
the steps of finding the rolling center when calibrating the laser target based on the one-dimensional turntable are as follows:
(1) the center line of the laser target is opposite to the total station: the one-dimensional turntable is adjusted back to the center position, and the total station is moved left and right, so that the mass center of the laser target is near 640 (the geometric center of the pixel plane).
(2) Leveling incident light of the laser target: when the total station instrument is used for adjusting bubbles, the Z axis of the total station instrument is vertical to the horizontal plane, and the total station instrument is lifted to enable the vertical angle of light to be 90 degrees and 0', and at the moment, the incident light is parallel to the horizontal plane.
(3) Determining the roll center position: the direction of the laser target is rotated through the one-dimensional rotary table, the total station is used for ranging, the horizontal angle and the vertical angle of the total station are observed, if the one-dimensional rotary table is leveled, the vertical angle is kept at 90 degrees 0', if the position of the rolling center is changed, the horizontal angle is also kept unchanged, if the horizontal angle is changed, the position of the laser target to be calibrated is required to be adjusted, and the laser target is finely adjusted front and back, left and right until the horizontal angle of the total station is kept unchanged.
The laser target calibration based on the precise two-axis turntable is used for determining the rolling center:
because of the mounting, the roll center of the laser target is different from the geometric center of the pixel plane (difference of 15 pixels maximum). The original calibration mode obtains two mutually perpendicular calibration lines by turning over the laser target, and the intersection point is the central point. When the two-axis turntable is used for calibration, the laser target does not need to be turned, if the expanded beam laser is perpendicular to the pixel plane, the transverse axis can be normally calibrated, but when the longitudinal axis is calibrated, the two-axis turntable needs to be rotated in the horizontal direction until the mass center U is near 640.
In step c, attention is required in the implementation process of finding the rolling center:
(1) the two-axis turntable adjusting and roll center determining process is complex in operation, but can be realized, and the calibration of all laser targets only needs to be adjusted once at first. The final effect of the adjustment is that the horizontal and vertical angles of the total station are kept constant and the vertical angle is 90 ° 0' 0 "while the laser target is rotated on the two-axis turntable.
(2) Due to mechanical processing, the position of the triangular surface of the laser target prism can be ensured not to be changed too much, namely when the laser target is calibrated after the adjustment is finished, the rolling center is generally not required to be found, but before any laser target is calibrated, whether the two-axis rotary table is leveled or not and whether the rolling center is found or not is required to be confirmed. Generally, only the total station needs to be adjusted.
In the step d, the implementation steps of calibrating the transverse axis and the longitudinal axis of the laser target are as follows: the two-axis turntable automatically rotates 1 degree every time, the mass center of a light spot can be recorded, the calibration range of the transverse axis of the laser target is +/-13 degrees, and the calibration range of the transverse axis of the laser target is +/-11 degrees.
After the calibration process is completed, after the data of the transverse axis and the longitudinal axis are respectively subjected to cubic spline interpolation, two mutually perpendicular lines can be formed, the intersection point of the two lines is the central point (different from the geometric central point of the pixel plane) of the pixel plane in the laser target installation mode, and different central points can be calibrated in different installation modes of the camera in the laser target.
Compared with the prior art, the invention has the advantages that: the invention relates to a laser target calibration system based on a precise two-axis rotary table, which uses the precise two-axis rotary table as an angle tracing reference, uses a beam expanding laser as a length tracing reference, drives a laser target to be calibrated to rotate, adopts a single fixed optical reference point as a reference, and stores light spot mass center data by the laser target at each rotating position to finally realize calibration. During the period, the laser target to be calibrated is connected with the two-axis rotary table through a specific tool, the calibration process is automatically completed through a program, manual intervention is not needed, and after the calibration is completed, the laser target can be separated from the two-axis rotary table according to application requirements. The invention is suitable for completing high-precision laser target calibration under the condition of small experimental range.
Drawings
FIG. 1 is a flow chart of a laser target calibration method based on a precision two-axis turntable according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the internal structure of a laser target according to an embodiment of the present invention;
FIG. 3 is a schematic view of an initial attitude of a laser target according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the attitude of the laser target at any measurement time in the embodiment of the invention;
Detailed Description
The basic idea of the invention is as follows: a three-dimensional target meeting large-scale precision equipment is virtualized through a two-axis turntable, a beam expanding laser and an inclinometer, an optimal calibration system is further established according to the imaging principle of a camera and the two-axis turntable, a rotation and translation matrix is solved by adopting a space point coordinate conversion method, and then included angles theta between light incidence of the laser target at different positions on the two-axis turntable are solved, so that the included angles theta correspond to the mass centers of light spots one to one, and the calibration of the laser target is realized.
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments thereof including a two-axis turntable, a laser target and a beam expanding laser.
As shown in FIG. 1, the laser target calibration method based on the precise two-axis turntable mainly comprises the following steps:
step 11: and fixing the laser target to be calibrated, the two-axis turntable and the beam expanding laser. The invention aims to solve the included angle theta between the incident lights of the beam expanding laser and the laser target which rotate to different positions on the two-axis turntable, so that the included angles theta correspond to the centroids of light spots one by one, and the calculation process of the included angle theta is as follows:
step 111: the laser target is fixed on the two-axis turntable and can rotate to different positions, so that the establishment of a coordinate system is also important, and the establishment of the specific coordinate system and the solution method of the attitude angle are as follows:
step 1111: the origin of the laser target coordinate system is established on the triangular surface of the prism, the Z axis is vertically upward, the X axis is forward, and the Y axis meets the right-hand rule. The two angles output by the inclinometer are the included angles between the X axis and the Y axis of the inclinometer and the horizontal plane respectively. The coordinates of the beam expanding laser define that the X axis is forward, the Z axis is vertical upward, and the Y axis meets the right hand rule.
Step 1112: the initial attitude of the laser target is shown in fig. 3, and the attitude of the laser target at any measurement time is shown in fig. 4, wherein the initial attitude is that the laser target is horizontally arranged, namely is parallel to the XOY plane of the beam expanding laser. (Note: different inclinometers, different installation modes, different XY-axis directions, and the actual conditions should be determined, and the XY-axis direction of the inclinometer is temporarily determined as shown in FIG. 4)
Step 1113: when the attitude is changed from the initial attitude to the attitude at any measurement time, the change mode is that the rotation angle yaw (azimuth angle) is firstly wound around the Z axis, then the rotation angle pitch (pitch angle) is wound around the Y axis, and finally the rotation angle roll (roll angle) is wound around the X axis, and when the attitude is changed from any measurement attitude to the initial attitude, the opposite change is carried out, namely the rotation angle pitch is wound around the X axis, then the rotation angle pitch is wound around the Y axis, and finally the rotation angle yaw is wound around the Z axis. Wherein yaw represents the angle between the X axis of the laser target and the light ray on the horizontal plane, pitch can be understood as the angle between the X axis of the inclinometer and the horizontal plane, and roll can also be simply calculated by the numerical value of the inclinometer. At any time when the laser target is used, the laser target can be changed into a horizontal posture through the numerical value of the inclinometer, the anti-rolling and anti-pitching, the real-time spot position after light incidence can be known through the camera, and the relation between the spot position and the light incidence angle needs to be established, so that the included angle yaw is obtained.
Step 1114: and (3) solving a pitch angle: after the laser target rotates the azimuth angle around the Z axis from the initial moment, the numerical value of the inclinometer cannot be changed, after the laser target rotates the pitch angle around the Y axis, the included angle between the X axis of the inclinometer and the horizontal plane is changed, and the changed numerical value is the pitch angle. And finally, rotating around the X axis, namely rotating around the X axis of the inclinometer, wherein the included angle between the X axis of the inclinometer and the horizontal plane cannot be changed, so that the pitch angle is the included angle between the X axis of the inclinometer and the horizontal plane.
Step 1115: obtaining a rolling angle: a parallel line made of 0X axis intersects the horizontal plane at a point C along the Y axis, connects CD and extends to intersect OY' at a point B and connects YB. A and D are respectively the vertical feet of the X-axis and the Y-axis on the horizontal plane. Rotate around OX from OY' to OY, orthogonal by the coordinate system:
OX⊥OY’
OX⊥OY
∵OX||YC
∴YC⊥OY’YC⊥OY
YcYC face YBO
∴YC⊥YB
∴ΔYCB～ΔYDB
Has a dose of YD |, horizontal plane
∴YD⊥OB
It is known that: YOB surface of YC-
∴YC⊥OB
OB face YCB
Delta YBO is a right-angled triangle
Calculating roll angle
From the geometrical relationship in step b:
sin θ＝YD÷YO (1)
cos η＝YD÷YB (2)
Sinroll＝YB÷YO (3)
the following equations (1), (2) and (3) show:
Sinroll＝sin θ÷cos η (4)
therefore, the value of the roll angle roll is:
roll＝arcsin(sinθ÷cos η) (5)
step 1116: and solving the azimuth angle according to the roll angle, the pitch angle and the mass center. For the laser target coordinate system gn at the measuring moment, the laser target coordinate system go at the initial moment, the coordinate system gn is obtained through reverse rolling and reverse pitching, and the initial moment laser target coordinate system go rotates around the Z axis by an angle yaw to also obtain a coordinate system gtTherefore azimuth angle, i.e. coordinate system gtThe angle between the central X axis and the light vector.
Coordinate system gnTo a coordinate system gtThe rotation matrix R of (a).
Transformation matrix in which the angle roll is rotated around the X-axis:
wherein the transformation matrix of the rotation angle pitch around the Y-axis:
therefore: r ═ Ry · Rx.
Find the coordinate system gtLight vector (unit vector) of (1)
OSt＝R·OS
Solving for azimuth
yaw＝-arctan(OSt[1]÷OSt[0])
Step 12: the following concrete operation steps of the laser target calibration method based on the two-axis turntable are as follows:
step 121: and (3) placing the laser target on a two-axis turntable fixing support, and reading the inclinometer data and the facula centroid data (U, V) of the laser target in real time.
Step 122: by adjusting the leveling base, when the laser target rotates on the two-axis turntable, two data of the inclinometer are within 0.0010.
Step 123: searching a rolling center: the roll center of the laser target calibration method based on the precise two-axis rotary table needs to be determined through the one-dimensional rotary table, and the roll center generally only needs to be determined once.
Step 1231: placing the laser target on a one-dimensional rotary table for leveling, wherein the central line of the laser target is opposite to the total station: the one-dimensional turret is returned to the center position (one-dimensional turret scale 180), and the total station is moved left and right, so that the mass center U of the laser target is near 640 (the geometric center of the pixel plane).
Step 1232: leveling incident light of the laser target: when the total station instrument is used for adjusting bubbles, the Z axis of the total station instrument is vertical to the horizontal plane, the total station instrument is lifted to enable the vertical angle of light to be 90-00000, and at the moment, incident light is parallel to the horizontal plane.
Step 1233: determining the roll center position: the direction of the laser target is rotated through the one-dimensional rotary table, the total station is respectively used for ranging, the horizontal angle and the vertical angle of the total station are observed, if the one-dimensional rotary table is leveled, the vertical angle is kept to be 90_00000, if the position of the rolling center is located, the horizontal angle is kept unchanged, if the horizontal angle is changed, the position is not the rolling center, and at the moment, screws of the clamping grooves need to be adjusted, so that the laser target is finely adjusted front and back, left and right until the horizontal angle of the total station is kept unchanged.
Step 124: and leveling the laser target calibrated on the one-dimensional rotary table on the two-dimensional rotary table, and leveling the beam expanding laser by leveling a leveling base below the beam expanding laser on the two-dimensional rotary table according to the determined rolling center on the one-dimensional rotary table.
Step 125: the beam expanding laser is moved to the position near the mass center U of 640 and the mass center V of 512 by the calibration transverse axis of the laser target, so that the calibration range is ensured to be at the central position of the pixel plane as far as possible, and the maximum calibration angle can be obtained. The calibration range of the transverse axis of the laser target is +/-13 degrees, the two-axis turntable is horizontally rotated, the scale value is added by 1 once, and the center of mass of a light spot is recorded until the requirement of the range of the transverse axis is met.
Step 126: the beam expanding laser is moved to the position near the mass center U of 640 and the mass center V of 512 by the calibration transverse axis of the laser target, so that the calibration range is ensured to be at the central position of the pixel plane as far as possible, and the maximum calibration angle can be obtained. The two-axis turntable is vertically rotated within the calibration range of +/-11 degrees of the longitudinal axis of the laser target, 1 is added to the scale once, and the center of mass of a light spot is recorded until the requirement of the longitudinal axis range is met, so that the calibration of the whole laser target is completed.
Claims (4)
1. A laser target calibration method based on a precise two-axis turntable is characterized by comprising the following steps: the calibration method adopts a beam expanding laser, a two-axis turntable, a laser target to be calibrated connected with the two-axis turntable and a calibration terminal connected with the two-axis turntable, the beam expanding laser is fixed at one end of the horizontal diameter of the two-axis turntable, and an emission port of the beam expanding laser points to one end of a prism of the laser target to be calibrated, and the calibration process comprises the following steps:
a. placing a laser target to be calibrated on a tool connected with a precise two-axis turntable, and reading inclinometer data and light spot mass center data (U, V) of the laser target to be calibrated in real time;
b. leveling the precision two-axis turntable, so that when the precision two-axis turntable and the laser target rotate together, the inclinometer data of the laser target to be calibrated is within 0.0010;
c. searching a rolling center;
d. and calibrating the transverse and longitudinal axes of the laser target.
2. The laser target calibration method based on the precise two-axis turntable as claimed in claim 1, wherein: in the step c, the step of finding the rolling center is as follows:
in the step d, the implementation steps of calibrating the transverse axis and the longitudinal axis of the laser target are as follows: the two-axis turntable will rotate 1 ° automatically each time, and
the centroid of the light spot is recorded, the calibration range of the transverse axis of the laser target is +/-13 degrees, and the calibration range of the transverse axis of the laser target is +/-11 degrees.
3. The laser target calibration method based on the precise two-axis turntable as claimed in claim 1, wherein:
the calibration process may further include the steps of,
s1, performing cubic spline interpolation on the data of the transverse axis and the longitudinal axis respectively to form two mutually perpendicular lines, wherein the intersection point of the two lines is the central point of the pixel plane in the laser target installation mode;
and S2, calibrating different central points by different installation modes of the camera in the laser target.
4. The laser target calibration method based on the precise two-axis turntable as claimed in claim 1, wherein: in the step c, the step of finding the rolling center is as follows:
s1, placing the laser target on a one-dimensional turntable for leveling, wherein the center line of the laser target is opposite to the total station: returning the one-dimensional turntable to the central position, and moving the total station left and right to enable the mass center U of the laser target to be 640;
s2, leveling incident light of the laser target: when the total station instrument is used for adjusting the bubble, the Z axis of the total station instrument is vertical to the horizontal plane, the total station instrument is lifted to enable the vertical angle of light to be 90-00000, and at the moment, the incident light is parallel to the horizontal plane;
s3, determining the roll center position: respectively measuring the distance of the total station by the total station through the direction of the laser target rotated by the one-dimensional rotary table, observing the horizontal angle and the vertical angle of the total station, if the one-dimensional rotary table is leveled, keeping the vertical angle at 90-00000, if the position of the rolling center is the horizontal angle, keeping the horizontal angle unchanged, if the horizontal angle is changed, indicating that the horizontal angle is not the rolling center, and adjusting screws of the clamping grooves to finely adjust the laser target all around until the horizontal angle of the total station is kept unchanged;
s4, moving the beam expanding laser to a position with a mass center U of 640 and a mass center V of 512 by a laser target calibration transverse axis; ensuring that the calibration range is in the central position of the pixel plane, and the maximum calibration angle can be obtained;
s5, calibrating the transverse axis of the laser target within a range of +/-13 degrees, horizontally rotating the two-axis turntable, adding 1 to the scale value at a time, and recording the centroid of the light spot until the requirement of the transverse axis range is met;
s6, moving the beam expanding laser to a position with a mass center U of 640 and a mass center V of 512 by a laser target calibration transverse axis, and ensuring that the calibration range is at the central position of a pixel plane and has a maximum calibration angle;
s7, vertically rotating the two-axis turntable within the laser target longitudinal axis calibration range of +/-11 degrees, adding 1 to the scale once, and recording the light spot mass center until the requirement of the longitudinal axis range is met, namely completing the calibration of the whole laser target.
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