CN113029124B

CN113029124B - Three-dimensional attitude position measurement device based on infrared visual guidance and laser ranging

Info

Publication number: CN113029124B
Application number: CN202110233256.7A
Authority: CN
Inventors: 裴永臣; 李振兴; 谢海量
Original assignee: Jilin University
Current assignee: Jilin University
Priority date: 2021-03-03
Filing date: 2021-03-03
Publication date: 2024-01-16
Anticipated expiration: 2041-03-03
Also published as: CN113029124A

Abstract

The invention discloses a three-dimensional attitude position measuring device based on infrared visual guidance and laser ranging, which mainly comprises a laser Y-axis rotating component A, a laser X-axis rotating component B, a laser component C, an image acquisition component D, a target I and a target object II. The laser X-axis rotating component (B) and the laser Y-axis rotating component (A) are adjusted to enable the measuring point of the laser component (C) to be positioned on the target (I) on the target object (II), the image acquisition component (D) is used for acquiring images of the target (I), the positions of the laser measuring points are continuously optimized through image processing, and finally the laser measuring points are positioned at the center of the target (I) to accurately position the target (I); in a small area near the center point of the target (I), a series of distance data are obtained by scanning of a laser component (C), and then the spatial position and the gesture of the target (I) are obtained by resolving by adopting a spatial plane fitting method based on the distance data and the sensor inclination angle, so that the position measurement and the gesture measurement of a spatial target object are accurately, rapidly, stably and continuously realized.

Description

Three-dimensional attitude position measurement device based on infrared visual guidance and laser ranging

Technical Field

The invention belongs to the field of three-dimensional attitude position measurement of a target object, and particularly relates to a three-dimensional attitude position measurement device based on infrared visual guidance and laser ranging.

Background

With the continuous development of modern industry, in some occasions needing to perform large-scale high-precision on-site real-time measurement, such as the installation and adjustment of a track plate of a high-speed railway, the installation and adjustment of components of a precise numerical control machine tool, the installation and adjustment and measurement of a large-scale hydroelectric generating set, the installation and detection of a large-scale ship lift and electromechanical equipment, the installation and adjustment and measurement of a high-energy particle accelerator magnet, and the product assembly and detection in the ship industry, the aircraft assembly and the automobile manufacturing industry, the assembly process is more and more refined, the requirement on the installation precision is also more and more high, and even the requirement on the large-scale structural dimension reaches the metering grade precision of 0.01-0.05 mm. The traditional measuring method has the defects of narrow measuring range, incapability of on-site measurement and high requirement on environment, and can not meet the requirement of modern measurement. The related products developed in China at present basically have the defects of low measurement efficiency, low measurement precision, poor stability and inconvenient use, and the foreign products are generally expensive in manufacturing cost and complex in using method.

In view of the foregoing, there is a strong need for a three-dimensional pose position measurement device based on infrared vision guidance and laser ranging, which can accurately, rapidly, stably and continuously measure the three-dimensional pose and position of a target. The three-dimensional attitude position measuring device based on infrared visual guidance and laser ranging is designed and developed, and has important significance and practical application value.

Disclosure of Invention

The invention aims to provide a three-dimensional attitude position measuring device based on infrared visual guidance and laser ranging, which can realize accurate positioning and three-dimensional attitude measurement of a space target object.

In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:

a three-dimensional attitude position measuring device based on infrared visual guidance and laser ranging mainly comprises a laser Y-axis rotating component A, a laser X-axis rotating component B, a laser component C, an image acquisition component D, Z axis moving component E, Y axis moving component F, a base G, a target I and a target object II. The Y-axis moving part F is fixed on the base G and is connected with the Z-axis moving part E through the lathe carriage, the Z-axis moving part E is fixed on the lower surface of the support column, the laser X-axis rotating part B is fixed on the upper surface of the support column through a connecting piece, the laser Y-axis rotating part A is fixed on the laser X-axis rotating part B through a connecting piece, the laser part C is fixed on the laser Y-axis rotating part A through a connecting piece, the image acquisition part D is fixed on the lower surface of the support column through a connecting piece, the target object II is positioned in the view field range of the image acquisition part D, and the target I is fixed on the side surface of the target object II, which is close to the image acquisition part D. In order to ensure measurement accuracy, the rotation centers of the laser X-axis rotation member B and the laser Y-axis rotation member a should intersect as much as possible on the laser ray extension line.

Further, the laser Y-axis rotating component A and the laser X-axis rotating component B mainly comprise a Y-axis rotary table, a laser Y-axis rotary encoder, an X-axis rotary table and a laser X-axis rotary encoder, and the rotation movement of the laser displacement sensor around the X-axis and the Y-axis and the rotation angle data output around the X-axis and the Y-axis are realized. The Y-axis rotary encoder is connected with the Y-axis rotary table through a U-shaped connecting piece, and the Y-axis rotary table is fixed on the upper surface of the support column through an L-shaped connecting piece; the X-axis rotary encoder is connected with the X-axis rotary table through a U-shaped connecting piece, and the X-axis rotary table is fixed on the upper surface of the support column.

Further, the Y-axis moving part F mainly comprises a stepping motor and a screw rod, and the +Y and-Y direction movement of the image acquisition part I and the laser part II is realized.

Further, the Z-axis moving part E mainly comprises a stepping motor and a screw rod, and the +Z and-Z direction movement of the image acquisition part I and the laser part II is realized.

Further, the image acquisition component D mainly comprises an infrared camera and an L-shaped connecting piece, and image acquisition of a target on a target object is achieved. The infrared camera is fixed on the support column through an L-shaped connecting piece and forwards moves along the Z axis.

Further, the laser component C mainly comprises a laser displacement sensor and an L-shaped connecting piece, so that the distance data of a target on a target object are obtained. The laser displacement sensor is fixed on the X-axis turntable through an L-shaped connecting piece.

Further, the target I mainly comprises a target upper plate, an infrared diode, a button cell, a target lower plate and a bolt, and positioning and three-dimensional attitude measurement of a target object are realized by providing infrared camera image assistance. The infrared diode is fixed in a lamp tube hole in the target and is powered by the button cell.

The invention has the advantages that: the device provides a brand new measuring method for the position and the posture of the target based on the infrared camera and the laser displacement sensor; the method can accurately, rapidly, stably and continuously measure and accurately position the position of the space target object, and can measure the pose of the space target object.

Drawings

FIG. 1 is a rear isometric view of the overall structure of the present invention

FIG. 2 is a front perspective view of the overall structure of the present invention

FIG. 3 is a front perspective view of the laser X-axis and Y-axis rotating member structure of the present invention

FIG. 4 is an isometric view of an exploded construction of a target according to the present invention

FIG. 5 is a schematic view of an acquired image according to the present invention

FIG. 6 is a schematic diagram of a measurement flow according to the present invention

Wherein: A. a laser Y-axis rotating member; B. a laser X-axis rotating member; C. a laser member; D. an image acquisition section; E. a Z-axis moving member; F. a Y-axis moving member; G. a base; I. a target; II. A target object; 1. a laser Y-axis rotary encoder; 2. a laser displacement sensor connector; 3. a laser displacement sensor; 4. an L-shaped connector; 5. a U-shaped connecting piece; 6. an infrared camera; 7. an L-shaped camera connection; 8. a Y-axis turntable; 9. a laser X-axis rotary encoder; 10. an X-axis turntable; 11. a support post; 12. a target upper plate; 13. an infrared diode; 14. a button cell; 15. a target lower plate; 16. a bolt;

Detailed Description

The invention is further described below with reference to the accompanying drawings:

the device is a three-dimensional attitude position measuring device based on infrared visual guidance and laser ranging. Referring to fig. 2, in measuring a target object in a three-dimensional space, a three-dimensional coordinate system is first established. Referring to fig. 1, 2 and 6, the Y-axis moving member (F) and the Z-axis moving member (E) are adjusted, as shown in fig. 1, to make the target (I) mounted on the target object (II) in the field of view of the image capturing member (D), and to provide for accurate measurement.

When the position of a target object is measured by referring to fig. 1 and 6, a laser X-axis rotating component (B) and a laser Y-axis rotating component (A) are adjusted to enable a measuring point of a laser displacement sensor (2) to be positioned on a target (I) on the target object (II), then an infrared camera (6) of an image acquisition component (D) acquires image data of the target (I) mounted on the target object (II), and referring to fig. 5, the image data are processed and then fitted with 1-10 infrared diode light spots to acquire image coordinates of the target (I) in an image and image coordinates of the laser spot; the process is repeatedly implemented until the difference value of the image distance between the image coordinates of the target (I) and the image coordinates of the laser point is smaller than a specific threshold value set by the user, the three-dimensional coordinates of the target (I) are obtained by converting the three-dimensional coordinates of the laser X-axis rotary encoder (9), the laser Y-axis rotary encoder (1) and the laser displacement sensor (3) under the space coordinate system, the three-dimensional coordinates of the target (II) are calculated according to the installation position relation of the target (I) and the target object, the position measurement of the target object (II) is completed, and the accurate positioning is achieved.

Referring to fig. 1 and 6, when the gesture measurement is carried out on a target object, an accurate positioning point is taken as an initial point, in a small area near the center point of the target, the measuring point of a laser displacement sensor (3) is scanned and measured on a target (I) of the target object (II) by adjusting a laser X-axis rotating component (B) and a laser Y-axis rotating component (A), a series of distance data are obtained, and then the spatial three-dimensional coordinate calculation is carried out on the data output by the laser X-axis rotating encoder (9), the laser Y-axis rotating encoder (1) and the laser displacement sensor (3) to obtain spatial three-dimensional point cloud data; the three-dimensional point cloud data is subjected to space plane fitting through an integral least square method to obtain a space plane equation of the surface of the target (I), so that the space posture of the target (I) is obtained, and then the space three-dimensional posture of the target object is calculated according to the position relation between the target (I) and the target object (II), so that the three-dimensional posture measurement of the target object is realized.

The above examples illustrate the structural features and technical solutions of the present patent, with the aim of making the present patent known to the researchers and engineering skilled in the art of research work and enabling the realization of the product accordingly.

Claims

1. The utility model provides a three-dimensional gesture position measurement device based on infrared vision guide and laser rangefinder mainly comprises laser Y axle rotary part A, laser X axle rotary part B, laser part C, image acquisition part D, Z axle moving part E, Y axle moving part F, base G, target I, object II, its characterized in that:

the image acquisition component D mainly comprises an infrared camera and an L-shaped connecting piece, and is used for realizing image acquisition of a target I on a target object II, wherein the infrared camera is fixed on a support column through the L-shaped connecting piece and forwards moves along a Z axis;

the target I mainly comprises a target upper plate 12, an infrared diode 13, a button cell 14, a target lower plate 15 and a bolt 16, and the positioning and three-dimensional attitude measurement of a target object are realized by providing infrared camera image assistance; wherein the infrared diode 13 is fixed in a lamp tube hole inside the target and is powered by a button cell 14;

the Y-axis moving part F and the Z-axis moving part E are used for controlling the linear motion of the measuring system, and the +Y and-Y direction movement and the +Z and-Z direction movement of the image acquisition part D and the laser part C are realized.