CN114485445A - Large-scale structure space deformation measuring device and method with reference beams capable of being transmitted in nonlinear obstacle crossing manner - Google Patents

Abstract

The invention relates to a large-scale structure space deformation measuring device and method with reference beams capable of being transmitted across obstacles in a nonlinear manner, and the large-scale structure space deformation measuring device comprises a space reference emission unit and a space pose measuring unit, wherein the space reference emission unit and the space pose measuring unit adopt split type structural design, the flexibility of the device is increased, and the expansibility based on a serial structure is stronger; the space reference transmitting unit is matched with the space pose measuring unit to realize measurement reference transmission, and can be used for measuring the space deformation of a large-scale structure under the condition that the measurement reference and the measurement end are obstructed by an obstacle; the image sensor and the image receiving screen are fixed in position, so that the problem that the system measurement precision is reduced along with the measurement distance in the traditional space deformation measurement technology based on photogrammetry is solved.

Description

A device and method for measuring deformation of large-scale structural space in which a reference beam can be transmitted nonlinearly across obstacles

technical field

The invention belongs to the technical field of spatial deformation measurement based on laser and machine vision, and in particular relates to a large-scale structure spatial deformation measurement device and method in which a reference beam can be non-linearly transmitted across obstacles.

Background technique

The spatial deformation measurement technology based on laser and machine vision is widely used in large-scale structural spatial deformation measurement and large-scale structural health monitoring and other occasions.

At present, the commonly used space deformation measurement equipment includes laser tracker, total station, monocular or binocular photogrammetry and other measurement equipment. Equipment such as laser trackers and total stations are expensive and have low measurement speed; for monocular or binocular photogrammetry, the measurement accuracy decreases with the increase of the measurement range, so it cannot achieve high-precision measurement in large-scale spaces; The measurement optical path of the station, monocular or binocular photogrammetry is susceptible to obstacles, and it is impossible to achieve cross-obstruction measurement when the measurement datum and the measurement point are not in sight.

Therefore, in the field of large-scale structure space deformation measurement and large-scale structure health monitoring, there is an urgent need for a large-scale spatial structure deformation measurement device with affordable price, high measurement accuracy, and non-linear transmission of the measurement reference beam across obstacles.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the deficiencies of the prior art, and to provide a large-scale spatial structure deformation measurement device in which a reference beam can be transmitted nonlinearly across obstacles, which is used for large-scale structure spatial deformation measurement and large-scale structure health monitoring.

The present invention solves its technical problem and realizes through the following technical solutions:

A large-scale structural space deformation measurement device capable of non-linearly transmitting a reference beam across obstacles is characterized in that it includes a space reference emission unit and a space pose measurement unit,

The space reference launching unit includes an installation base, a cross-hair laser generator, a laser range finder, a positioning reference table, a V-shaped positioning stage and a light-transmitting window, on which the laser range finder and the laser range finder are fixedly installed. V-shaped positioning groove, the positioning reference platform includes two positioning end surfaces parallel to each other and perpendicular to the installation reference surface, an edge of the laser rangefinder is installed in contact with the one positioning end surface, the V The cross-hair laser generator is positioned and installed on the V-shaped positioning groove, one surface of the V-shaped positioning groove is installed in contact with the positioning end face, and the front end of the installation base is provided with a light-transmitting window;

The spatial pose measurement unit includes a mounting base, a laser beam splitter, a plane reflector A, a plane reflector B, a plane reflector C, a laser receiving screen A, a laser receiving screen B, an image sensor A and an image sensor B. The mounting base is provided with a number of positioning edges as the positioning end face, the laser beam splitter and the positioning edge are arranged at 45°, and the plane reflector A is arranged at the rear end of the laser beam splitter and is 45° from the positioning edge. ° arrangement, the plane mirror B is arranged in parallel with the plane mirror A and is arranged at 45° with the positioning edge, and the plane mirror C is perpendicular to the plane mirror B and is arranged at a 45° angle with the positioning edge 45° arrangement, the laser receiving screen A and the laser receiving screen B arranged on the installation base are used to receive the cross-spot image and image it to provide the target image for the image sensor A and the image sensor B, and the front surface of the installation base Set the cross-hair laser incident window and the laser ranging target plane.

Moreover, the cross-shaped laser generator of the space reference emitting unit adopts the cross-line structured light as the reference beam to provide the space pose measurement reference.

Moreover, the space reference emission unit is fixed on the upper surface of the space pose measurement unit, the space reference emission unit and the space pose measurement unit constitute a reference beam transmission unit, and the space pose measurement unit can measure relative to The horizontal displacement, vertical displacement, yaw angle displacement, pitch angle displacement and roll angle displacement of the reference beam, combined with the laser rangefinder in the space reference emission unit, can realize the six-degree-of-freedom deformation measurement in space.

Moreover, the laser receiving screen A and the laser receiving screen B are both made of transparent acrylic plates, and the outer sides of the laser receiving screen A and the laser receiving screen B are coated with a nanometer diffuse reflection coating.

Moreover, the installation base is provided with a mechanical casing; the installation base is provided with a mechanical casing.

A method for measuring the deformation of a large-scale structure space in which the reference beam can be transmitted nonlinearly across obstacles, characterized in that: the steps of the method are:

1) Preparation for measurement and installation: Connect the space reference launch unit to the industrial computer, fasten it on the tripod, place the tripod on the stable ground near the measurement space, and turn on the cross-hair laser generator and the Laser rangefinder; the space pose measurement unit and the space reference emission unit are fastened and installed to form a reference beam transmission unit, and the relationship between the space pose measurement coordinate system and the space reference emission coordinate system in the reference beam transmission unit is calibrated in advance, and the reference beam The transfer unit is placed near the obstacle; the spatial pose measurement unit is placed near the measured point; the industrial computer is turned on, and the image sensor A and image sensor B of all the spatial pose measurement units in the device are turned on to ensure that the cross-hair laser The cross beam spot of the generator can form a cross image on the laser receiving screen A and the laser receiving screen B through the light-transmitting window;

2) Establishment of the space reference emission coordinate system: In the space reference emission unit, the projection direction of the cross-hair laser center is taken as the X axis of the coordinate system, and the intersection of the laser rangefinder ranging reference plane and the X axis is taken as the coordinate origin O, with In the plane where the horizontal axis of the cross line is located, the axis passing through the origin and perpendicular to the X axis is used as the Y axis, and the axis passing through the coordinate origin and perpendicular to the XOY plane is the Z axis to establish a space benchmark emission coordinate system that conforms to the right-hand rule;

3) Establishment of the coordinate system of the spatial pose measurement unit itself: in the spatial pose measurement unit, an edge along the laser incident direction is used as the X-axis, and the intersection of the adjacent edge close to the window and the edge is the origin, and the crossing point is used as the origin. The origin point and the upward direction perpendicular to the installation reference plane is the Z axis, and the straight line passing through the origin point and perpendicular to the XOY plane is the Y axis to establish the coordinate system of the spatial pose measurement unit itself;

4) Laser transmission and reflection optical path: after the incident cross-hair structured light is acted by the laser beam splitter, a part of it is reflected and projected to the laser receiving screen A, and the other part is transmitted through the laser beam splitter, and then reflected by the plane mirror and then projected to the laser receiving screen. Screen B is for receiving screen A to form a virtual image through a laser beam splitter, image sensor A to form a virtual image through a laser beam splitter, receiving screen B to form a virtual image through the optical path of the plane mirror group, and image sensor B to form a virtual image through the optical path of the plane mirror group, that is, after the measurement optical path, The two sets of machine vision measurement systems form a parallel form, and the planes where the virtual image of the receiving screen A and the virtual image of the receiving screen B are located are perpendicular to the X-axis, and the positional relationship is fixed;

5) Set the virtual image plane of the laser receiving screen A as A, and the virtual image plane of the laser receiving screen B as B. In the coordinate system of the spatial pose measurement unit, set the plane equation as x=x ₁ and the plane as x=x ₂ , the cross spot images on the two screens collected by image sensors A and B are processed by the measurement software, and the position of the center of the cross spot in the two-dimensional coordinate system of image sensors A and B can be obtained. The center point on the virtual image plane is A, and the center point of the cross beam spot on the virtual image plane of the laser receiving screen B is B. After calibration and transformation, its spatial position in the coordinate system of the spatial pose measurement unit can be obtained. The coordinates of A are (x ₁ , y ₁ , z ₁ ), and the coordinates of B are (x ₂ , y ₂ , z ₂ ), which can be measured by the machine vision system, and can also be processed by the measurement software. axis slope, set to k;

6) Horizontal and vertical displacement measurement: take the center of the cross beam spot on the virtual image plane of the laser receiving screen A as the benchmark for horizontal and vertical displacement measurement, and set the coordinates of point A at the initial moment as (x ₁ , y ₁ , z ₁ ), the coordinates of point A after the pose change is (x ₁ ', y ₁ ', z ₁ '),

The horizontal displacement is Δy=y ₁ ′-y ₁ ;

The vertical displacement is Δz=z ₁ ′-z ₁ ;

线段AB在空间位姿测量单元自身坐标系的YOZ平面内的投影与OX轴夹角发生

7) Measurement of yaw angle, pitch angle and roll angle: set the coordinates of point A at the initial moment before the pose change as (x ₁ , y ₁ , z ₁ ), the slope of the horizontal axis of the cross beam in the virtual image plane (7-3) is k; let the coordinates of point B be (x ₂ , y ₂ , z ₂ ), and the angle between the projection of the line segment AB in the XOY plane of the coordinate system of the spatial pose measurement unit and the OX axis is

The projection of the line segment AB in the YOZ plane of the spatial pose measurement unit's own coordinate system and the angle between the OX axis occur

线段AB在空间位姿测量单元自身坐标系的YOZ平面内的投影与OX轴夹角发生

After the pose is changed, the coordinates of point A are (x ₁ , y ₁ ', z ₁ '), and the slope of the horizontal axis of the cross beam in the virtual image plane (7-3) is k'; let the coordinates of point B be (x ₂ , y ₂ ', z ₂ '), at this time, the projection of the line segment AB in the XOY plane of the spatial pose measurement unit's own coordinate system and the OX axis angle are

The projection of the line segment AB in the YOZ plane of the spatial pose measurement unit's own coordinate system and the angle between the OX axis occur

but:

Yaw angle displacement Δα=α2-α1;

Pitch angle displacement Δβ=β2-β1;

Roll angular displacement Δθ=arctank'-arctank.

Therefore, combined with the ranging function of laser ranging along the transmission direction of the cross reference beam, the spatial six-degree-of-freedom deformation measurement of the spatial pose measurement unit relative to the cross reference beam can be realized.

The advantages and beneficial effects of the present invention are:

1. The large-scale structure space deformation measurement device of the present invention in which the reference beam can be non-linearly transmitted across obstacles, the space reference emission unit and the space posture measurement unit adopt a split structure, which increases the flexibility of the device.

2. The large-scale structural space deformation measurement device of the present invention, in which the reference beam can be transmitted nonlinearly across obstacles, the position of the image sensor and the image receiving screen is fixed, which avoids the reduction of the system measurement accuracy with the measurement range in the traditional photogrammetry-based space coordinate measurement technology. question.

3. The large-scale structural space deformation measurement device in which the reference beam of the present invention can be transmitted nonlinearly across obstacles has strong expansibility based on the tandem structure, and can realize the measurement of the measurement reference across obstacles.

4. The present invention is based on a large-scale structural space deformation measurement device in which the reference beam can be non-linearly transmitted across obstacles, has a simple structure, and is affordable, and can effectively make up for the high price problems of laser trackers and the like.

5. The present invention is based on a large-scale structural space deformation measurement device in which the reference beam can be transmitted across obstacles non-linearly. One end of the V-shaped positioning groove is fixedly installed with a laser fixed pressure plate, which can realize the five-point positioning of the laser shell and ensure the laser generator. Axial positioning accuracy in the V-groove.

6. The large-scale structural space deformation measurement device of the present invention, in which the reference beam can be transmitted nonlinearly across obstacles, adopts cross-hair structured light to generate the spatial pose measurement reference, and combined with the laser rangefinder can realize the measurement of the deformation of the six degrees of freedom in space.

7. The large-scale structural space deformation measurement device of the present invention, in which the reference beam can be transmitted nonlinearly across obstacles, is provided with a mechanical casing on the installation base to protect the internal key equipment such as dustproof, moistureproof and shockproof.

8. The large-scale structural space deformation measurement device in which the reference beam of the present invention can be transmitted nonlinearly across obstacles, the laser receiving screen and the laser receiving screen B are made of transparent acrylic plates, and the outer sides of the laser receiving screen A and the laser receiving screen B are coated with It is coated with nano-diffuse reflection coating to ensure that the cross light spot can be clearly imaged on the screen and can be clearly collected by the image sensor through the screen.

Description of drawings

1 is a schematic structural diagram of a space reference transmitting unit of the present invention;

2 is a schematic structural diagram of a spatial pose measurement unit of the present invention;

Fig. 3 is the schematic diagram of the spatial deformation measuring device when there is no obstacle blocking according to the present invention;

4 is a schematic diagram of establishing a space reference launch coordinate system according to the present invention;

5 is a schematic diagram of establishing a coordinate system of the spatial pose measurement unit itself according to the present invention;

6 is a schematic diagram of the measurement optical path of the present invention;

FIG. 7 is a schematic diagram of the measuring device for measuring the spatial deformation of the reference beam across obstacles according to the present invention;

FIG. 8 is a schematic diagram of the displacement and angle measurement process of the present invention.

Description of reference numerals

1-1, reticle laser generator; 1-2, laser rangefinder; 1-3, positioning reference table; 1-4, V-shaped positioning groove; 1-5, laser fixing platen; 1-6, light transmission Window; 1-7, Mounting Base; 1-8, Mechanical Enclosure;

2-1, laser beam splitter; 2-2, plane mirror A; 2-3, plane mirror B; 2-4, plane mirror C; 2-5, laser receiving screen A; 2-6, laser receiving Screen B; 2-7, image sensor A; 2-8, image sensor B; 2-9, laser ranging target plane; 2-10, cross-line laser incident window; 2-11, positioning edge; 2-12, Mounting Base; 2-13, Mechanical Enclosure;

3-1, space reference launch unit; 3-2, space pose measurement unit; 3-3, industrial computer

4-1, the origin of the space reference emission coordinate system; 4-2, the X axis of the space reference emission coordinate system; 4-3, the Y axis of the space reference emission coordinate system; 4-4, the Z axis of the space reference emission coordinate system;

5-1, the X-axis of the coordinate system of the spatial pose measurement unit; 5-2, the Y-axis of the coordinate system of the spatial pose measurement unit; 5-3, the origin of the coordinate system of the spatial pose measurement unit; 5-4, the spatial position The Z axis of the coordinate system of the attitude measurement unit itself;

6-1, the incident cross-hair structured light; 6-2, the virtual image plane A formed by the receiving screen A through the laser beam splitter; 6-3, the virtual image formed by the image sensor A through the laser beam splitter; 6-4, the receiving screen B The virtual image plane B formed by the optical path of the plane mirror group; 6-5, the virtual image formed by the image sensor B through the optical path of the plane mirror group;

7-1, reference beam delivery unit; 7-2, first rangefinder signal line; 7-3, second rangefinder signal line; 7-4, first image sensor signal line; 7-5, second Image sensor signal line; 7-6, third image sensor signal line; 7-7, fourth image sensor signal line;

8-1, the space reference launch coordinate system; 8-2, the coordinate system of the space pose measurement unit itself.

Detailed ways

The present invention will be further described in detail below through specific examples. The following examples are only descriptive, not restrictive, and cannot limit the protection scope of the present invention.

A large-scale structural space deformation measurement device capable of non-linearly transmitting a reference beam across obstacles, is characterized in that it comprises a space reference emission unit 3-1 and a space pose measurement unit 3-2,

The space reference launching unit includes a mounting base 1-7, a cross-hair laser generator 1-1, a laser rangefinder 1-2, a positioning reference platform 1-3, a V-shaped positioning platform 1-4 and a light-transmitting window 1 -6, the laser range finder and the V-shaped positioning groove are fixedly installed on the installation base, and the positioning reference platform includes two positioning end faces that are parallel to each other and perpendicular to the installation reference plane. An edge of the distance meter is installed in contact with one of the positioning end surfaces, the cross-line laser generator is positioned and installed on the V-shaped positioning groove, and a surface of the V-shaped positioning groove is installed in contact with the positioning end surface. , the front end of the installation base is provided with a light-transmitting window, and one end of the V-shaped positioning groove is fixedly installed with the laser fixing pressure plate 1-5, which can realize the five-point positioning of the laser shell and ensure that the laser generator is in the V-shaped groove. Inner axial positioning accuracy;

The spatial pose measurement unit includes a mounting base 2-12, a laser beam splitter 2-1, a plane reflector A2-2, a plane reflector B2-3, a plane reflector C2-4, a laser receiving screen A2-5, Laser receiving screen B2-6, image sensor A2-7 and image sensor B2-8, several positioning edges 2-11 are arranged in the mounting base as positioning end faces, and the laser beam splitter and the positioning edges are at 45° The plane mirror A is arranged at the rear end of the laser beam splitter and is arranged at 45° to the positioning edge, and the plane mirror B is arranged parallel to the plane mirror A and is at 45° to the positioning edge. The plane mirror C is perpendicular to the plane mirror B and is arranged at 45° to the positioning edge, and the laser receiving screen A and the laser receiving screen B arranged on the mounting base are used to receive the cross beam spot The image and imaging provide target images for the image sensor A and the image sensor B, and a cross-hair laser incident window 2-10 and a laser ranging target plane 2-9 are arranged on the front end surface of the installation base.

The cross-shaped laser generator of the space reference emission unit adopts the cross-line structured light as the reference beam to provide the space pose measurement reference.

The space reference emission unit is fixed on the upper surface of the space pose measurement unit, the space reference emission unit and the space pose measurement unit constitute a reference beam transmission unit 7-1, and the space pose measurement unit can measure relative to the reference The horizontal displacement, vertical displacement, yaw angle displacement, pitch angle displacement and roll angle displacement of the beam, combined with the laser rangefinder in the space reference transmitting unit, can realize the six-degree-of-freedom deformation measurement in space.

The laser receiving screen A and the laser receiving screen B are made of transparent acrylic plates, and the outer sides of the laser receiving screen A and the laser receiving screen B are coated with a nano-diffuse reflection coating to ensure that the cross light spot is clearly imaged on the screen and transmitted through The screen can be clearly captured by the image sensor.

Mechanical casings 1-8 are arranged on the installation base of the space reference launching unit; mechanical casings 2-13 are arranged on the installation base of the spatial position and attitude measurement unit to protect the internal key equipment such as dustproof, moistureproof and shockproof.

A method for measuring the deformation of a large-scale structure space in which the reference beam can be transmitted nonlinearly across obstacles, characterized in that: the steps of the method are:

1) Preparation for measurement and installation: Connect the space reference transmitting unit to the IPC 3-3, fasten it on the tripod, place the tripod on the stable ground near the measurement space, and turn on the cross-hair laser of the space reference transmitting unit A generator and a laser rangefinder; the space pose measurement unit and the space reference emission unit are fastened to form a reference beam transmission unit, and the relationship between the space pose measurement coordinate system and the space reference emission coordinate system in the reference beam transmission unit is calibrated in advance, Place the reference beam delivery unit near the obstacle; place the spatial pose measurement unit near the measured point; turn on the industrial computer, and turn on the image sensor A and image sensor B of all spatial pose measurement units in the device to ensure that The cross-line light spot of the cross-line laser generator can form a cross image on the laser receiving screen A and the laser receiving screen B through the light-transmitting window;

2) Establishment of the space reference emission coordinate system: in the space reference emission unit, the X axis 4-2 of the space reference emission coordinate system is taken as the projection direction of the cross-hair laser center, and the distance measurement reference plane of the laser range finder and the space reference are used to emit. The intersection of the X axis of the coordinate system is the origin O4-1 of the space reference emission coordinate system, and the axis that passes through the origin in the plane where the horizontal axis of the cross line is located and is perpendicular to the X axis of the space reference emission coordinate system is used as the space reference emission coordinate system Y axis 4-3, Taking the axis passing through the origin O of the space reference emission coordinate system and perpendicular to the XOY plane as the space reference emission coordinate system Z axis 4-4, establishes a space reference emission coordinate system 8-1 that conforms to the right-hand rule;

3) Establishment of the coordinate system of the spatial pose measurement unit: in the spatial pose measurement unit, an edge along the incident direction of the laser is used as the X-axis 5-1 of the spatial pose measurement unit's own coordinate system, and an edge close to the window is used as the coordinate system X-axis 5-1. The intersection point between the edge and the edge is the origin of the coordinate system of the spatial pose measurement unit itself 5-3, and the direction passing through the origin of the spatial pose measurement unit's own coordinate system and perpendicular to the installation reference plane is the coordinate system Z of the spatial pose measurement unit itself. Axis 5-4, take the line passing through the origin of the coordinate system of the spatial pose measurement unit and perpendicular to the XOY plane as the Y-axis 5-2 of the spatial pose measurement unit's own coordinate system, and establish the coordinate system of the spatial pose measurement unit 8-2 ;

4) Laser transmission and reflection optical path: After the incident cross-hair structured light 6-1 is acted by the laser beam splitter, a part of it is reflected and projected to the laser receiving screen A, and the other part is transmitted through the laser beam splitter, and then reflected by the plane mirror and then projected. To the laser receiving screen B, the receiving screen A passes through the virtual image plane A6-2 formed by the laser beam splitter, the image sensor A forms the virtual image 6-3 through the laser beam splitter, and the receiving screen B passes through the virtual image plane B6-4 formed by the optical path of the plane mirror group. Sensor B forms a virtual image 6-5 through the optical path of the plane mirror group, that is, after passing through the optical path of measurement, the two groups of machine vision measurement systems form a parallel and positive form, and the planes where the virtual image of the receiving screen A and the virtual image of the receiving screen B are located are both perpendicular to the X-axis, and The positional relationship is fixed;

5) Set the virtual image plane of the laser receiving screen A (2-5) as, and the virtual image plane of the laser receiving screen B as (7-4). In the coordinate system of the spatial pose measurement unit, set the plane equation as x=x ₁ , the plane is x=x ₂ , the cross-spot images on the two screens collected by the image sensors A and B are processed by the measurement software, and the position of the center of the cross-spot in the two-dimensional coordinate system of the image sensors A and B can be obtained. The center point of the cross beam spot on the virtual image plane of the laser receiving screen A is A, and the center point of the cross beam spot on the virtual image plane of the laser receiving screen B is B. After calibration and conversion, the position and orientation measurement unit itself can be obtained. The spatial position in the coordinate system, let the A coordinate be (x ₁ , y ₁ , z ₁ ), and the B coordinate be (x ₂ , y ₂ , z ₂ ), which can be measured by the machine vision system and processed by the measurement software. You can also obtain the slope of the horizontal axis of the cross line on the plane, set it as k;

6) Horizontal and vertical displacement measurement: take the center of the cross beam spot on the virtual image plane of the laser receiving screen A as the benchmark for horizontal and vertical displacement measurement, and set the coordinates of point A at the initial moment as (x ₁ , y ₁ , z ₁ ), the coordinates of point A after the pose change is (x ₁ ', y ₁ ', z ₁ '),

The horizontal displacement is Δy=y ₁ ′-y ₁ ;

The vertical displacement is Δz=z ₁ ′-z ₁ ;

线段AB在空间位姿测量单元自身坐标系的YOZ平面内的投影与OX轴夹角发生

7) Measurement of yaw angle, pitch angle and roll angle: set the coordinates of point A at the initial moment before the pose change as (x ₁ , y ₁ , z ₁ ), and the slope of the horizontal axis of the cross beam in the virtual image plane as k; set B The point coordinates are (x ₂ , y ₂ , z ₂ ), at this time the projection of the line segment AB in the XOY plane of the coordinate system of the spatial pose measurement unit and the angle between the OX axis is

The projection of the line segment AB in the YOZ plane of the spatial pose measurement unit's own coordinate system and the angle between the OX axis occur

线段AB在空间位姿测量单元自身坐标系的YOZ平面内的投影与OX轴夹角发生

After the pose is changed, the coordinates of point A are (x ₁ , y ₁ ', z ₁ '), and the slope of the horizontal axis of the cross beam in the virtual image plane is k'; let the coordinates of point B be (x ₂ , y ₂ ', z ₂ '), at this time, the projection of the line segment AB in the XOY plane of the coordinate system of the space pose measurement unit itself and the angle between the OX axis is

The projection of the line segment AB in the YOZ plane of the spatial pose measurement unit's own coordinate system and the angle between the OX axis occur

but:

Yaw angle displacement Δα=α2-α1;

Pitch angle displacement Δβ=β2-β1;

Roll angular displacement Δθ=arctank'-arctank.

Therefore, combined with the ranging function of laser ranging along the transmission direction of the cross reference beam, the spatial six-degree-of-freedom deformation measurement of the spatial pose measurement unit relative to the cross reference beam can be realized.

The patent of the present invention explains the principle of measuring the reference beam transmission across obstacles:

Connect the space reference emission unit to the industrial computer, fasten it on the tripod, place the tripod on the stable ground near the measurement space, and turn on the cross-line laser generator and laser rangefinder of the space reference emission unit; The space pose measurement unit and the space reference emission unit are fastened to form a reference beam transmission unit. The relationship between the space pose measurement coordinate system and the space reference emission coordinate system in the reference beam transmission unit is calibrated in advance, and the reference beam transmission unit is placed on an obstacle. Nearby position; place the spatial pose measurement unit near the measured point; ensure that the cross-hair structured light of the spatial reference emission unit is clear on the laser receiving screen A and the laser receiving screen B of the spatial pose measurement unit in the reference beam transmission unit Imaging; ensure that the cross-hair structured light of the spatial reference emission unit in the reference beam transmission unit is clearly imaged on the receiving screen A and the receiving screen B of the spatial pose measurement unit at the position of the measured point.

When there is no pose change in the reference beam delivery unit, the spatial pose measurement reference based on the cross-hair structured light can directly transmit the beam through the reference in the reference beam delivery unit, and non-linearly transmit the beam across obstacles to the measured point position for spatial pose measurement. At the unit, the spatial deformation measurement of the position of the measured point relative to the reticle reference beam is realized;

When the pose of the reference beam transmission unit changes, it will cause the same pose change of the reference beam in the spatial reference emission unit in the reference transmission unit, so that the spatial pose measurement unit at the measured point will introduce spatial deformation. Measurement error; the spatial pose measurement unit in the reference beam delivery unit can measure the spatial 6DOF pose variation of the reference beam delivery unit relative to the measurement reference beam, because the spatial pose measurement coordinate system in the reference beam delivery unit and the spatial reference emission The relationship of the coordinate system is fixed and known, and the position change of the cross beam spot of the reference beam at the measured point can be easily calculated through known geometric knowledge, so that the position change can be compensated in the measured point spatial pose measurement unit , to realize the deformation measurement of large-scale structure space with nonlinear transmission of reference beam across obstacles.

The laser rangefinder of the space reference transmitting unit transmits the ranging signal between the industrial computer, the reference beam transmission unit and the space reference transmitting unit through the first rangefinder signal line 7-2 and the second rangefinder signal line 7-3. transmission; the spatial pose measurement unit transmits the image signal through the first image sensor signal line 7-4, the second image sensor signal line 7-5, the third image sensor signal line 7-6 and the fourth image sensor signal line 7- 7. Transmission between the industrial computer, the spatial pose measurement unit and the reference beam transmission unit.

Although the embodiments and drawings of the present invention are disclosed for illustrative purposes, those skilled in the art will appreciate that various substitutions, changes and modifications are possible without departing from the spirit and scope of the invention and the appended claims Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.

Claims (6)

1. The utility model provides a large-scale structure space deformation measuring device that reference beam can nonlinear obstacle-crossing transmission which characterized in that: comprises a space reference emission unit and a space pose measurement unit,

the space datum emission unit comprises a mounting base, a crossline laser generator, a laser range finder, a positioning datum table, a V-shaped positioning table and a light-transmitting window, the laser range finder and the V-shaped positioning groove are fixedly mounted on the mounting base, the positioning datum table comprises two positioning end faces which are parallel to each other and perpendicular to the mounting datum face, one edge of the laser range finder is installed in contact with one positioning end face, the crossline laser generator is installed on the V-shaped positioning groove in a positioning mode, one face of the V-shaped positioning groove is installed in contact with the positioning end face, and the light-transmitting window is arranged at the front end of the mounting base;

the space pose measuring unit comprises an installation base, a laser spectroscope, a plane reflector A, a plane reflector B, a plane reflector C, a laser receiving screen A, a laser receiving screen B, an image sensor A and an image sensor B, wherein a plurality of positioning edges are arranged in the installation base as positioning end faces, the laser spectroscope and the positioning edges are arranged at 45 degrees, the plane reflector A is arranged at the rear end of the laser spectroscope and arranged at 45 degrees with the positioning edges, the plane reflector B is arranged in parallel with the plane reflector A and arranged at 45 degrees with the positioning edges, the plane reflector C is perpendicular to the plane reflector B and arranged at 45 degrees with the positioning edges, the laser receiving screen A and the laser receiving screen B arranged on the installation base are used for receiving cross light spot images and imaging to provide target images for the image sensor A and the image sensor B, and a cross line laser incident window and a laser ranging target plane are arranged on the front end face of the mounting base.

2. The device for measuring the spatial deformation of a large structure, wherein the reference beam can be transmitted across the obstacle in a nonlinear way, according to claim 1, is characterized in that: the cross laser generator of the space reference emission unit adopts cross line structure light as reference light beams to provide space pose measurement reference.

3. The apparatus of claim 1, wherein the reference beam is transmitted nonlinearly across the obstacle, and the apparatus is characterized in that: the space reference emission unit is fixedly connected to the upper surface of the space pose measuring unit, the space reference emission unit and the space pose measuring unit form a reference light beam transfer unit, the space pose measuring unit can measure horizontal displacement, vertical displacement, yaw angular displacement, pitch angular displacement and roll angular displacement relative to a reference light beam, and the space six-degree-of-freedom deformation measurement can be realized by combining a laser range finder in the space reference emission unit.

4. The device for measuring the spatial deformation of a large structure, wherein the reference beam can be transmitted across the obstacle in a nonlinear way, according to claim 1, is characterized in that: the laser receiving screen A and the laser receiving screen B are both made of transparent acrylic plates, and the outer sides of the laser receiving screen A and the laser receiving screen B are coated with nano diffuse reflection coatings.

5. The device for measuring the spatial deformation of a large structure, wherein the reference beam can be transmitted across the obstacle in a nonlinear way, according to claim 1, is characterized in that: a mechanical shell is arranged on the mounting base; and a mechanical shell is arranged on the mounting base.

6. A large structure space deformation measurement method capable of realizing nonlinear obstacle crossing transmission of reference beams according to any one of claims 1 to 5, characterized by comprising the following steps: the method comprises the following steps:

1) measurement and installation preparation: connecting the space reference emission unit with an industrial personal computer, tightly installing the space reference emission unit on a triangular bracket, placing the triangular bracket on a stable ground near a measurement space, and opening a cross line laser generator and a laser range finder of the space reference emission unit; the space pose measuring unit and the space reference transmitting unit are fastened and installed to form a reference beam transmission unit, the relation between a space pose measuring coordinate system and a space reference transmitting coordinate system in the reference beam transmission unit is calibrated in advance, and the reference beam transmission unit is arranged at a position near an obstacle; placing a space pose measuring unit at a position near a measured point; opening the industrial personal computer, and opening the image sensors A and B of all the space pose measurement units in the device to ensure that the cross light spot of the cross light laser generator can form cross images on the laser receiving screen A and the laser receiving screen B through the light-transmitting window;

2) establishing a space reference emission coordinate system: in the space reference emission unit, the projection direction of the center of the cross line laser is taken as the X axis of a coordinate system, the intersection point of a distance measurement reference surface of a laser range finder and the X axis is taken as a coordinate origin O, an axis which passes through the origin in the plane of the cross line transverse axis and is vertical to the X axis is taken as a Y axis, an axis which passes through the coordinate origin and is vertical to the XOY plane is taken as a Z axis, and the space reference emission coordinate system conforming to the right-hand rule is established;

3) establishing a coordinate system of the space pose measuring unit: in the space pose measuring unit, an edge along the laser incidence direction is taken as an X axis, the intersection point of an adjacent edge close to a window and the edge is taken as an original point, the direction which passes through the original point and is vertical to an installation reference plane is taken as a Z axis, and a straight line which passes through the original point and is vertical to an XOY plane is taken as a Y axis to establish a coordinate system of the space pose measuring unit;

4) laser transmission and reflection light path: after the incident cross line structure light acts through the laser spectroscope, one part of the incident cross line structure light is reflected and then projected to the laser receiving screen A, the other part of the incident cross line structure light penetrates through the laser spectroscope and then is reflected through the plane reflector and then projected to the laser receiving screen B, a virtual image is formed on the receiving screen A through the laser spectroscope, the virtual image is formed on the receiving screen B through a plane mirror group light path, namely, after the incident cross line structure light passes through a measuring light path, the two groups of machine vision measuring systems form a parallel and opposite mode, the planes where the virtual image of the receiving screen A and the virtual image of the receiving screen B are perpendicular to the X axis, and the position relation is fixed;

5) setting a virtual image plane A of a laser receiving screen A and a virtual image plane B of a laser receiving screen B, and setting a plane equation as x-x in a coordinate system of a space pose measuring unit₁The plane is x ═ x₂After the cross light spot images on the two screens collected by the image sensor A, B are processed by the measurement software, the position of the center of the cross light spot in the two-dimensional coordinate system of the image sensor A, B can be obtained, the central point of the cross light spot on the virtual image plane of the laser receiving screen A is set as A, the central point of the cross light spot on the virtual image plane of the laser receiving screen B is set as B, the spatial position of the cross light spot in the coordinate system of the spatial pose measurement unit can be obtained after calibration conversion, and the coordinate A is set as (x coordinate)₁，y₁，z₁) And B coordinate is (x)₂，y₂，z₂) The gradient of the cross axis of the cross line on the plane can be obtained by measuring by a machine vision system, and can be also obtained by processing by measuring software, and is set as k;

6) measuring horizontal and vertical displacement: the center of a cross light spot of cross structured light on a virtual image plane of a laser receiving screen A is used as a reference for measuring horizontal and vertical displacement, and the coordinate of a point A at an initial moment is set as (x)₁，y₁，z₁) The coordinate of the point A after the pose change is (x)₁’，y₁’，z₁’)，

Horizontal displacement of Δ y ═ y₁'-y₁；

Vertical displacement Δ z ═ z₁'-z₁；

7) Yaw, pitchAngle and roll angle measurement: setting the coordinate of the point A at the initial moment before the pose changes as (x)₁，y₁，z₁) The slope of the cross light spot horizontal axis in the virtual image plane (7-3) is k; let the B point coordinate be (x)₂，y₂，z₂) At the moment, the included angle between the projection of the line segment AB in the XOY plane of the coordinate system of the space pose measuring unit and the OX axis is

The included angle between the projection of the line segment AB in the YOZ plane of the self coordinate system of the space pose measuring unit and the OX axis

After the posture is changed, the coordinate of the point A is (x)₁，y₁’，z₁'), the slope of the cross-shaped light spot transverse axis in the virtual image plane is k'; let the B point coordinate be (x)₂，y₂’，z₂') and the included angle between the projection of the line segment AB in the XOY plane of the coordinate system of the space pose measuring unit and the OX axis at the moment is

The included angle between the projection of the line segment AB in the YOZ plane of the self coordinate system of the space pose measuring unit and the OX axis

Then:

the yaw angular displacement delta alpha is alpha 2-alpha 1;

pitching angular displacement delta beta is beta 2-beta 1;

the roll angular displacement Δ θ is arctank' -arctank.

Therefore, the space pose measuring unit can realize the space six-degree-of-freedom deformation measurement relative to the cross reference light beam by combining the distance measuring function of laser distance measurement along the transmission direction of the cross reference light beam.

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