CN116202485A - Line laser tilt angle measurement method, device, equipment and storage medium - Google Patents
Line laser tilt angle measurement method, device, equipment and storage medium Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
- G01C9/02—Details
Abstract
The embodiment of the application provides a line laser inclination angle measurement method, a device, equipment and a storage medium, and relates to the technical field of laser measurement, wherein the method comprises the following steps: acquiring spot information acquired by a plurality of optical sensors, and determining pixel areas corresponding to the spots of the line laser on each optical sensor; selecting pixel point information corresponding to a target point from the pixel areas on each optical sensor; acquiring coordinate point information corresponding to the pixel point information based on a target coordinate system associated with the optical sensor; and according to the coordinate point information, performing straight line fitting to determine the inclination angle of the line laser relative to the horizontal direction. The scheme can accurately and effectively measure the inclination angle of the line laser relative to the horizontal direction.
Description
Technical Field
The embodiment of the application relates to the technical field of laser measurement, in particular to a line laser inclination angle measurement method, device and equipment and a storage medium.
Background
The line laser is a horizontal line laser emitted by the line laser tube, that is, the line laser appears as a line extending in the horizontal direction on the surface of the object, but in reality, due to the quality of devices inside the line laser tube, the installation process, and the like, there is an error in the line laser tube, and thus there is an error in a certain inclination angle between the obtained line laser and the horizontal direction.
The existing detection of the inclination angle of the line laser outgoing line direction is generally performed by adopting a light detector, for example, the light information fed back by the line laser from the parallel baffle is received by the light detector, and the point cloud data is displayed on a software upper computer so as to calculate the inclination angle. However, the above-mentioned method has a defect that, on the one hand, since the angle of Field of View (FOV) of the photodetector is small, the entire line laser information cannot be received; on the other hand, the condensing lens on the light detector can distort the line laser information in the converging process, so that the measurement of the inclination angle of the horizontal outgoing line direction of the line laser is inaccurate or cannot be measured.
Disclosure of Invention
The embodiment of the application provides a line laser inclination angle measuring method, device, equipment and storage medium, which can accurately and effectively measure the inclination angle of line laser relative to the horizontal direction.
In a first aspect, an embodiment of the present application provides a line laser tilt angle measurement method, which is applied to a line laser tilt angle measurement system, where the line laser tilt angle measurement system includes a line laser tube and a plurality of optical sensors, and line laser emitted by the line laser tube irradiates on the optical sensors, and the method includes:
acquiring spot information acquired by a plurality of optical sensors, and determining pixel areas corresponding to the spots of the line laser on each optical sensor;
selecting pixel point information corresponding to the target point in a pixel area on each optical sensor;
acquiring coordinate point information corresponding to the pixel point information based on a target coordinate system associated with the optical sensor;
and according to the coordinate point information, performing straight line fitting to determine the inclination angle of the line laser relative to the horizontal direction.
In a second aspect, an embodiment of the present application further provides a line laser tilt angle measurement device, which is applied to a line laser tilt angle measurement system, where the line laser tilt angle measurement system includes a line laser tube and a plurality of optical sensors, and line laser emitted by the line laser tube irradiates on the optical sensors, and the device includes:
the area determining module is configured to acquire spot information acquired by the plurality of optical sensors and determine pixel areas corresponding to spots of the line laser on the optical sensors;
the first information acquisition module is configured to select pixel point information corresponding to the target point from pixel areas on each optical sensor;
a second information acquisition module configured to acquire coordinate point information corresponding to the pixel point information based on a target coordinate system associated with the optical sensor;
and the angle determining module is configured to perform straight line fitting according to the coordinate point information so as to determine the inclination angle of the line laser relative to the horizontal direction.
In a third aspect, embodiments of the present application further provide an electronic device, including:
one or more processors;
storage means for storing one or more programs,
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the line laser tilt angle measurement method of the above aspect.
In a fourth aspect, embodiments of the present application also provide a storage medium storing computer-executable instructions that, when executed by a processor, are configured to perform the line laser tilt angle measurement method of the above aspect.
According to the method and the device, the spot information acquired by the optical sensor is processed, the pixel point information of the target point corresponding to the spot information on the pixel area is determined, the corresponding coordinate point information is determined according to the mapping relation of the pixel point information on the target coordinate system, and then straight line fitting is carried out on each coordinate point to determine the inclination angle of the line laser relative to the horizontal direction.
Drawings
FIG. 1 is a flow chart of steps of a line laser tilt angle measurement method according to an embodiment of the present application;
FIG. 2 is a flowchart illustrating steps for determining coordinate point information according to one embodiment of the present application;
FIG. 3 is a flowchart showing the steps for determining tilt angle according to one embodiment of the present application;
FIG. 4 is a schematic diagram of a line laser tilt angle measurement device according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The present application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are for purposes of illustration and not limitation. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present application are shown in the drawings.
It should be noted that, for the sake of brevity, this specification is not exhaustive of all of the alternative embodiments, and after reading this specification, one skilled in the art will appreciate that any combination of features may constitute an alternative embodiment as long as the features do not contradict each other.
It should be noted that in this document, relational terms such as first and second are used solely to distinguish one entity or action or object from another entity or action or object without necessarily requiring or implying any actual such relationship or order between such entities or actions or objects. For example, "first" and "second" of a first information acquisition module and a second information acquisition module are used to distinguish between two different information acquisition modules. Furthermore, in the description herein, "plurality" means two or more.
The line laser tilt angle measuring method provided by the embodiment of the application is applied to a line laser tilt angle measuring system, the line laser tilt angle measuring system comprises a plurality of optical sensors and a line laser tube, the line laser tube is used for emitting line laser, and the line laser emitted by the line laser tube irradiates on the optical sensors. It is conceivable that the optical sensor may be a CMOS (Complementary Metal-Oxide-Semiconductor) sensor or a CCD (Charge Coupled Device ) sensor. In the line laser tilt angle measurement system, the optical sensors are arranged side by side so that the line laser can be irradiated on the optical sensors. The number of the optical sensors may be adaptively set according to the irradiation range of the line laser.
Fig. 1 is a flowchart illustrating steps of a line laser tilt angle measurement method according to an embodiment of the present application, and as shown in fig. 1, the line laser tilt angle measurement method of the present application includes the following steps:
step S110, spot information acquired by a plurality of optical sensors is acquired, and pixel areas corresponding to the spots of the line laser on the optical sensors are determined.
It is conceivable that, for each optical sensor, a spot is formed when a line laser light is irradiated on the optical sensor surface. Because the optical sensor can realize the working principle of photoelectric conversion, light irradiates on the pixel array of the optical sensor, and corresponding image signals can be transmitted to the electronic equipment with the data processing and calculating functions by the optical sensor, it is conceivable that the electronic equipment can execute the line laser inclination angle measuring method provided by the embodiment of the application. Accordingly, the light spots on each optical sensor can occupy the corresponding pixel area, so that the pixel area of the light spot on the optical sensor can be acquired when the light spot information is acquired.
Step S120, selecting pixel point information corresponding to the target point from the pixel area on each optical sensor.
In one embodiment, a target point is required to be used as a representative pixel point of the pixel region in the whole pixel region. For example, the centroid of the light spot is selected as the target point, and for the selection of the centroid of the light spot, the centroid of the light spot on each optical sensor can be determined according to the centroid algorithm of the light spot. It should be noted that, the selection scheme of the spot centroid may refer to algorithms such as positioning and selecting the spot centroid in the related art, which is not specifically limited in this application. After the spot centroid is determined, correspondingly, the pixel point corresponding to the spot centroid in the pixel area can also be determined, so that corresponding pixel point information can be determined. The scheme selects the target point which can represent the corresponding pixel area of the light spot on the optical sensor, so that the error of data can be reduced better, and the situation that the measurement of the inclination angle of the line laser is inaccurate can occur.
Step S130, acquiring coordinate point information corresponding to the pixel point information based on the target coordinate system associated with the optical sensor.
The target coordinate system is preset, which is associated with the optical sensor, such as with the pixel coordinate system of the optical sensor. The target coordinate system is used to determine the tilt angle of the line laser.
In some embodiments, as shown in fig. 2, fig. 2 is a flowchart illustrating a step of determining coordinate point information according to an embodiment of the present application, and the line laser tilt angle measurement method further includes the following steps:
step S210, determining a mapping relation between a pixel coordinate system of the optical sensor and a target coordinate system.
And S220, determining a target coordinate value of the spot centroid in a target coordinate system according to the mapping relation, and taking the target coordinate value as coordinate point information.
It is conceivable that the target coordinate system is associated with the pixel coordinate system, both having a mapping relationship, which for each pixel point in the pixel coordinate system has a uniquely determined coordinate point in the target coordinate system. Therefore, the target coordinate value of the spot centroid in the target coordinate system can be determined according to the corresponding mapping relation, for example, the coordinate value of the spot centroid in the pixel coordinate system is determined, so that the coordinate value in the target coordinate system, namely the target coordinate value, is converted according to the mapping relation. Therefore, the target coordinate value is used as coordinate point information to determine the line laser inclination angle, and the accuracy of inclination angle measurement is improved.
And step S140, performing straight line fitting according to the coordinate point information to determine the inclination angle of the line laser relative to the horizontal direction.
After the coordinate information of the target points on each optical sensor is determined, straight line fitting is performed on each target point according to the recorded coordinate information, and a corresponding fitting straight line is determined, so that the inclination degree of the line segment, such as the inclination angle of the line laser relative to the horizontal direction, is used as the inclination angle of the line segment.
In some embodiments, fig. 3 is a flowchart of steps for determining a tilt angle according to an embodiment of the present application, where the line laser tilt angle measurement method further includes the following steps:
step S310, determining a fitting straight line corresponding to the line laser according to the plurality of coordinate point information and a preset straight line fitting algorithm.
Step S320, determining the inclination angle of the line laser relative to the horizontal direction based on the slope corresponding to the fitting straight line.
It can be understood that the preset straight line fitting algorithm can be a least square method or a gradient descent method, and other straight line fitting algorithms can be selected according to corresponding precision requirements. According to the information of a plurality of coordinate points and a preset straight line fitting algorithm, namely, the target point of the line laser on each optical sensor such as the spot centroid and the coordinate point information of the line laser on a target coordinate system, the obtained coordinate point information is processed according to the algorithm, so that a straight line equation corresponding to a corresponding fitting straight line is determined, such as a slope and a constant term in the corresponding fitting straight line equation are determined, and further the straight line equation of the fitting straight line is determined.
It is conceivable that when the coordinate axes of the target coordinate system are parallel to the horizontal direction, after determining the slope of the fitting straight line, the inclination angle of the line laser with respect to the horizontal direction may be determined by the slope of the fitting straight line, for example, the included angle between the fitting straight line and the coordinate axes is determined by using an inverse trigonometric function, and the included angle is the inclination angle. Of course, for the case where the coordinate axes of the target coordinate system are not parallel to the horizontal direction, the inclination angle of the line laser may be determined according to the angle between the fitting straight line and the straight line set in the horizontal direction.
According to the scheme, for measuring the inclination angle of the line laser, the inclination angle is calculated based on the data (such as spot information) of the optical sensor, so that the situation that distortion of the line laser caused by devices such as lenses and the like affects the measurement inclination angle can be effectively avoided, and the measurement of the inclination angle of the line laser is more accurate and effective. In addition, the method and the device process the spot information, determine the pixel point information of the target point corresponding to the spot information on the pixel area, and determine corresponding coordinate point information according to the mapping relation of the pixel point information on the target coordinate system, so that each coordinate point is subjected to straight line fitting, the measurement of the inclination angle can be conveniently and effectively realized, and the automatic measurement of the inclination angle is realized.
In some embodiments, a plurality of optical sensors in the line laser tilt angle measurement system are arranged side by side, and the number of optical sensors is adapted to the irradiation range of the line laser, i.e. the number of optical sensors may be increased or decreased according to the FOV angle of the line laser irradiation, with a higher flexibility, so as to accommodate the tilt angle measurement of the line laser of different irradiation ranges.
The processor applying the line laser inclination angle measuring method can acquire data, such as spot information, on the optical sensor through the line laser tube, so as to determine a pixel area of the line laser on the optical sensor, further obtain corresponding pixel point information, map coordinate points corresponding to each optical sensor in a target coordinate system, combine coordinate point information of a plurality of coordinate points, determine a fitting straight line of the line laser on the target coordinate system according to a preset straight line fitting algorithm, and further determine an inclination angle of the line laser relative to the horizontal direction, wherein the inclination angle is used as an inclination angle by taking an included angle of the fitting straight line and parallel lines of the horizontal direction.
After determining the slope of the line laser, the slope may also be determined, for example, a criterion of whether the line laser is qualified or not may be set, for example, a slope range may be preset, the line laser whose slope is outside the preset slope range may be determined to be a line laser with unqualified quality, and the line laser whose slope is within the preset slope range may be determined to be a line laser with qualified quality.
In some embodiments, the line laser is further subjected to abnormality determination, for example, the offset distance of the corresponding coordinate point relative to the fitting straight line is determined according to the coordinate point information, and the line laser is subjected to abnormality determination. For example, after determining the linear equation of the fitting straight line, for coordinate points corresponding to each optical sensor on the target coordinate system, each coordinate point has an offset distance from the fitting straight line, and the minimum distance between each coordinate point and the fitting straight line is taken as an offset distance, that is, the length of a line segment perpendicular to the fitting straight line, which takes the coordinate point as an end point, is taken as the minimum distance. Similarly, if the line laser is abnormal, a corresponding interval threshold value can be preset, and when the offset distance is greater than the preset interval threshold value, the line laser is determined to be abnormal.
Therefore, by fitting coordinate points corresponding to the optical sensors and performing abnormality judgment, the abnormal position of the deviation of the line laser signal emitted by the line laser tube can be determined, so that the line laser inclination angle can be timely adjusted, and the abnormal position of the line laser can be monitored and determined, thereby facilitating correction processing of the line laser.
Fig. 4 is a schematic diagram of a line laser tilt angle measurement device according to an embodiment of the present application, where the device is configured to execute the line laser tilt angle measurement method according to the foregoing embodiment, and includes corresponding functional modules and beneficial effects of the execution method, and as shown in the drawing, the device includes: a region determination module 401, a first information acquisition module 402, a second information acquisition module 403, and an angle determination module 404.
The region determining module 401 is configured to acquire spot information acquired by a plurality of optical sensors, and determine a pixel region corresponding to a spot of line laser on each optical sensor;
the first information acquisition module 402 is configured to select pixel point information corresponding to a target point in a pixel area on each optical sensor;
the second information acquisition module 403 is configured to acquire coordinate point information corresponding to the pixel point information based on a target coordinate system associated with the optical sensor;
the angle determination module 404 is configured to perform a straight line fitting to determine an inclination angle of the line laser with respect to the horizontal direction based on the coordinate point information.
Based on the above embodiment, the target point is a spot centroid, and the first information acquisition module 402 is further configured to:
according to a spot centroid algorithm, determining a spot centroid in a spot on each optical sensor;
and acquiring pixel point information of the centroid of the light spot in a pixel point area.
On the basis of the embodiment, the target point is a spot centroid, and the pixel point information is pixel point information of the spot centroid in a pixel point area. The second information acquisition module 403 is further configured to:
determining the mapping relation between a pixel coordinate system of the optical sensor and a target coordinate system;
and according to the mapping relation, determining a target coordinate value of the light spot centroid in a target coordinate system, and taking the target coordinate value as coordinate point information.
Based on the above embodiments, the angle determination module 404 is further configured to:
determining a fitting straight line corresponding to the line laser according to the information of the coordinate points and a preset straight line fitting algorithm;
and determining the inclination angle of the line laser relative to the horizontal direction based on the slope corresponding to the fitting straight line.
On the basis of the above embodiment, the straight line fitting algorithm is any one of a least square method and a gradient descent method.
On the basis of the above embodiment, the line laser inclination angle measurement apparatus further includes an abnormality determination module configured to:
and determining the offset distance of the corresponding coordinate point relative to the fitted straight line after the straight line fitting according to the coordinate point information so as to judge the abnormality of the line laser.
On the basis of the above embodiment, the abnormality determination module is further configured to:
obtaining the minimum distance between each coordinate point and the fitting straight line according to the coordinate point information and the straight line expression corresponding to the fitting straight line obtained by straight line fitting, and taking the minimum distance as an offset distance;
and when an abnormal coordinate point with the offset distance exceeding a preset interval threshold exists, determining that the line laser is abnormal.
It should be noted that, in the embodiment of the line laser tilt angle measurement device described above, each included functional module is only divided according to functional logic, but not limited to the above-described division, as long as the corresponding function can be implemented; in addition, the specific names of the functional modules are only for distinguishing from each other, and are not used for limiting the protection scope of the application.
Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application, where the device includes a processor 501, a memory 502, an input device 503, and an output device 504, where the number of processors 501 in the device may be one or more, and one processor 501 is taken as an example in the figure; the processor 501, memory 502, input means 503 and output means 504 in the device may be connected by a bus or other means, in the figure by way of example. The memory 502 is a computer readable storage medium, and may be used to store a software program, a computer executable program, and modules, such as program instructions/modules corresponding to the line laser tilt angle measurement method in the embodiments of the present application. The processor 501 executes various functional applications of the apparatus and data processing by executing software programs, instructions and modules stored in the memory 502, i.e., implements the line laser tilt angle measurement method described above.
The input means 503 may be used to receive entered numeric or character information and to generate key signal inputs related to user settings and function control of the device. The output means 504 may be used to send or display key signal outputs related to user settings and function control of the device.
Embodiments of the present application also provide a storage medium storing computer-executable instructions that, when executed by a processor, are configured to perform related operations in a line laser tilt angle measurement method provided by any of the embodiments of the present application.
Computer-readable storage media, including both permanent and non-permanent, removable and non-removable media, may be implemented in any method or technology for storage of information. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
Note that the above is only a preferred embodiment of the present application and the technical principle applied. Those skilled in the art will appreciate that the present application is not limited to the particular embodiments described herein, but is capable of numerous obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the present application. Therefore, while the present application has been described in connection with the above embodiments, the present application is not limited to the above embodiments, but may include many other equivalent embodiments without departing from the spirit of the present application, the scope of which is defined by the scope of the appended claims.
Claims (10)
1. A line laser tilt angle measurement method, characterized by being applied to a line laser tilt angle measurement system including a line laser tube and a plurality of optical sensors on which line laser light emitted from the line laser tube is irradiated, the method comprising:
acquiring spot information acquired by a plurality of optical sensors, and determining pixel areas corresponding to the spots of the line laser on each optical sensor;
selecting pixel point information corresponding to a target point from the pixel areas on each optical sensor;
acquiring coordinate point information corresponding to the pixel point information based on a target coordinate system associated with the optical sensor;
and according to the coordinate point information, performing straight line fitting to determine the inclination angle of the line laser relative to the horizontal direction.
2. The line laser tilt angle measurement method according to claim 1, wherein the target point is a spot centroid, and the selecting pixel point information corresponding to the target point in the pixel area on each of the optical sensors includes:
determining the spot centroid of the spots on each optical sensor according to a spot centroid algorithm;
and acquiring pixel point information of the light spot centroid in the pixel point area.
3. The line laser tilt angle measurement method according to claim 1 or 2, wherein the target point is a spot centroid, and the pixel point information is pixel point information of the spot centroid in the pixel point region;
the acquiring coordinate point information corresponding to the pixel point information based on a target coordinate system associated with the optical sensor includes:
determining a mapping relation between a pixel coordinate system of the optical sensor and the target coordinate system;
and determining a target coordinate value of the facula centroid in the target coordinate system according to the mapping relation, and taking the target coordinate value as the coordinate point information.
4. The line laser tilt angle measurement method according to claim 1, wherein the performing straight line fitting to determine the tilt angle of the line laser with respect to the horizontal direction based on the coordinate point information comprises:
determining a fitting straight line corresponding to the line laser according to the coordinate point information and a preset straight line fitting algorithm;
and determining the inclination angle of the line laser relative to the horizontal direction based on the slope corresponding to the fitted straight line.
5. The line laser tilt angle measurement method according to claim 4, wherein the straight line fitting algorithm is any one of a least square method and a gradient descent method.
6. The line laser tilt angle measurement method according to claim 1, wherein the method further comprises:
and determining the offset distance of the corresponding coordinate point relative to the fitted straight line after straight line fitting according to the coordinate point information so as to judge the abnormality of the line laser.
7. The line laser tilt angle measurement method according to claim 6, wherein determining an offset distance of the corresponding coordinate point with respect to the straight line after the straight line fitting based on the coordinate point information, to perform abnormality determination on the line laser, comprises:
obtaining the minimum distance between each coordinate point and the fitting straight line according to the coordinate point information and the straight line expression corresponding to the fitting straight line obtained by straight line fitting, and taking the minimum distance as the offset distance;
and when an abnormal coordinate point exists, the offset distance of which exceeds a preset interval threshold value, determining that the line laser is abnormal.
8. A line laser tilt angle measuring apparatus, characterized by being applied to a line laser tilt angle measuring system including a line laser tube and a plurality of optical sensors on which line laser light emitted from the line laser tube is irradiated, the apparatus comprising:
the area determining module is configured to acquire spot information acquired by a plurality of optical sensors and determine pixel areas corresponding to spots of the line laser on each optical sensor;
a first information acquisition module configured to select pixel point information corresponding to a target point in the pixel region on each of the optical sensors;
a second information acquisition module configured to acquire coordinate point information corresponding to the pixel point information based on a target coordinate system associated with the optical sensor;
and the angle determining module is configured to perform straight line fitting according to the coordinate point information so as to determine the inclination angle of the line laser relative to the horizontal direction.
9. An electronic device, the device comprising:
one or more processors;
storage means for storing one or more programs which when executed by one or more of said processors implement the line laser tilt angle measurement method according to any one of claims 1 to 7.
10. A storage medium storing computer executable instructions which, when executed by a processor, are for performing the line laser tilt angle measurement method according to any one of claims 1-7.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116859375A (en) * | 2023-09-04 | 2023-10-10 | 武汉市品持科技有限公司 | Laser radar dimming method, system and readable storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116859375A (en) * | 2023-09-04 | 2023-10-10 | 武汉市品持科技有限公司 | Laser radar dimming method, system and readable storage medium |
| CN116859375B (en) * | 2023-09-04 | 2023-11-28 | 武汉市品持科技有限公司 | Laser radar dimming method, system and readable storage medium |
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