CN215217491U - High-precision three-coordinate measuring equipment capable of remotely tracking target - Google Patents
High-precision three-coordinate measuring equipment capable of remotely tracking target Download PDFInfo
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- CN215217491U CN215217491U CN202022611959.2U CN202022611959U CN215217491U CN 215217491 U CN215217491 U CN 215217491U CN 202022611959 U CN202022611959 U CN 202022611959U CN 215217491 U CN215217491 U CN 215217491U
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Abstract
The utility model provides a but high accuracy three-coordinate measurement of long-range pursuit target is equipped can be applied to mapping engineering field, electromechanical engineering field. The device realizes three-dimensional measurement of target data through laser ranging and machine vision identification. The equipment combines a laser positioning technology and a machine vision target tracking technology, roughly positions a target through visual identification, and accurately positions the target through laser. After positioning is finished, calculating through the data of the laser ranging sensor and the position data of the encoder to obtain the X, Y direction coordinate value of the target position, and calculating through visual recognition to obtain Z direction data, so that tracking measurement of the X/Y/Z direction position of the mobile terminal is realized. Data between the fixed end and the mobile end are transmitted in wireless modes such as Bluetooth and WiFi, measured data can be calculated and stored locally, remote calculation and storage can also be carried out through a network, and the mobile end of the mobile phone can also be synchronously inquired and displayed.
Description
Technical Field
Aiming at the fields of mapping engineering and electromechanical engineering.
Background
At present, a total station is mainly adopted for measuring the flatness of the earth and the ground. However, the tool has the problems of complicated measurement process, high operation technical requirements on surveying and mapping personnel, insufficient measurement precision and the like. How to realize the measurement of the data of the levelness and the flatness of the earth and the ground efficiently and accurately becomes a difficult problem.
SUMMERY OF THE UTILITY MODEL
For solving the background problem, the utility model provides a but high accuracy three-coordinate measurement of long-range pursuit target is equipped and is used for civil engineering development survey and drawing, solves the earthwork to measure in the building work progress, and ground levelness and roughness are measured, realize pursuit moving target automated measurement. Can replace the manpower to measure through this equipment and ground three-dimensional data obtains, use manpower sparingly cost.
Preferably, the calibration measuring aperture or the marking ring is fixed on the mobile measuring rod of the mobile measuring end and is positioned in the shooting range of the measuring camera.
Preferably, the measuring camera takes a picture of the movable end measuring rod, and the content of the taken picture comprises a laser point and a calibrated measuring aperture which are shot to the movable end measuring rod. The measuring camera sends the shot picture to a computer in the mobile electromechanical device assembly for distance measurement calculation through a USB serial port or other communication modes, and an absolute difference value exists between a machine vision measurement result and the distance from the laser point to the ground, and is the absolute distance between the calibration aperture and the ground. Therefore, the distance between the laser point and the ground is the sum of the machine vision measurement result and the absolute distance between the calibration aperture and the ground, and is the Z-direction measurement value of the equipment. And transmitting the calculation result to a computer in the fixed-end electromechanical device assembly.
Preferably, the mobile terminal electromechanical device assembly and the fixed terminal electromechanical device assembly can perform shooting instruction sending and measurement data transmission through wireless communication.
Preferably, the pixels of the tracking camera can meet the requirement of the farthest tracking range.
Preferably, a leveling device is arranged on the fixed tripod platform, so that the tripod platform is leveled on the ground.
Preferably, the motor assembling component is provided with a central concave hole for fixing the pitching freedom motor and the horizontal freedom motor and a thread positioning hole surrounding the central concave hole.
Preferably, the horizontal degree of freedom motor is a direct drive motor.
Preferably, a computer inside the fixed end electromechanical device assembly controls a motor driver, controls the horizontal degree of freedom motor to control the motor to automatically track the movable end measuring rod, and reads angle data of the motor in real time.
Preferably, the mobile measuring terminal prompts an operator to adjust the equipment state level in real time through the mobile terminal electromechanical equipment assembly. The tracking measurement fixing end reads whether the real-time state of the mobile measurement end is horizontal or not through the wireless communication module.
Preferably, the wireless communication module sends a photographing instruction to the computer inside the fixed-end electromechanical device assembly if a signal that the equipment state sent by the mobile-end electromechanical device assembly is horizontal is received after the computer inside the fixed-end electromechanical device assembly tracks the target through the wireless module.
Preferably, a computer in the fixed end electromechanical device assembly obtains angle data of the motor driver and measurement data of the laser ranging device. From encoder angle reading θb、θcReading L from real-time laser ranging apparatusa、Lb、LcPolar coordinate conversion is performed to obtain the directional measurement value A (a) of the corresponding device X, Yx，ay）、B（bx，by）、C（cx，cy) And in such a way, data of a plurality of measuring points are obtained, and the number and distribution of the measuring points can be determined by a user.
Preferably, the mobile measuring terminal can be moved and operated by a human or a robot for measurement. The specific measurement points and the minimum measurement distance are determined according to the requirements of users.
Preferably, the X/Y/Z direction measurement data can be locally calculated and stored in the fixed end electromechanical equipment assembly, and cloud calculation and storage can also be carried out through a network. The form of data storage includes: polar and rectangular coordinates.
The preferred X/Y/Z measurement data may be displayed on a display screen in the fixed end mechatronic device assembly. Meanwhile, the display measurement result is uploaded to a cloud platform of the computer, and can be inquired and displayed at the mobile terminal of the mobile phone.
Drawings
Fig. 1 is a schematic front view.
Fig. 2 is a schematic top view.
FIG. 3 is a schematic view showing the storage of measurement results.
In FIGS. 1-2: the system comprises a tracking camera 1, a laser ranging device 3, a motor assembly member 4, a horizontal degree of freedom motor 5, a fixed end electromechanical device assembly 6, a fixed end tripod 7, a moving end electromechanical device assembly 8, a measuring camera 9, a calibration measuring diaphragm 10, a moving measuring rod 11 and a measuring result data origin.
In fig. 3: there are two forms of polar coordinate data storage and rectangular coordinate storage, as shown, in the polar coordinate data storage format: l isa- LnIs a value of the polar diameter, 0, thetab-θnIs the polar angle value. In the rectangular coordinate data storage format: a isx-cx…XnIs a value of X direction of rectangular coordinate system, ay- cy…YnIs the Y direction value of the rectangular coordinate system.
Detailed Description
The technical solution in the implementation of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the whole invention. Based on the utility model provides an in outdoor earthwork is measured or indoor ground measurement is used, all other embodiments that relevant field technical personnel do not have creative work and obtain all belong to the utility model discloses in the protection of a patent scope.
Referring to fig. 1-2, the present invention provides a technical solution: a high-precision three-coordinate measuring device capable of tracking targets remotely is divided into two parts, namely a tracking measuring fixed end and a mobile measuring end. The fixed end is measured in the pursuit is including pursuing camera 1, its characterized in that: bolt connection and installation of whole camera on motor assembly mechanismOn 3, laser ranging apparatus 2 is mounted to motor mounting member 3 by bolting. The motor assembling member 3 is mounted on the horizontal degree-of-freedom motor 4 through threaded connection. The horizontal freedom degree motor 4 is installed on a fixed end tripod 6 through bolt connection, and the fixed end electromechanical device assembly 5 is installed inside the fixed end tripod 6 through bolt connection. The mobile measuring end comprises a mobile end electromechanical device assembly 7 which is fixed on a mobile measuring rod 10 through threaded connection. The calibration measuring aperture 9 is fixed on the movable measuring rod 10. The measuring camera 8 is fixed on the movable measuring rod 10 in a threaded connection mode. The device combines laser positioning and target tracking in machine vision to realize tracking measurement of the mobile terminal. And a direct drive motor of a high-resolution encoder is adopted for motion tracking control so as to better realize the remote tracking effect. The computer of the fixed end electromechanical device assembly 5 is obtaining an encoder resolution angle reading θ of the motor drive1、θ2Reading L of real-time laser ranging equipmenta、Lb、LcThe measurement result of the direction of the target point X, Y is obtained through computer calculation, the picture shot by the measuring camera 9 processed by the computer in the movable end electromechanical device assembly 7 is converted into the measurement result of the direction of the target point Z, and the data and instruction receiving and sending between the tracking measurement fixed end and the movable measurement end are realized through the wireless communication module. The X/Y/Z direction measurement data can be locally calculated and stored in the fixed end electromechanical device assembly 5, and cloud calculation and storage can also be carried out through a network. The X/Y/Z direction measurement data may be displayed on a display screen in the fixed end mechatronic device assembly 5. Meanwhile, the display measurement result is uploaded to a cloud platform of the computer, and can be inquired and displayed at the mobile terminal of the mobile phone. The storage form of the data is shown in fig. 3, and includes: polar coordinate system and rectangular coordinate system.
Claims (6)
1. The utility model provides a but high accuracy three-coordinate measurement of remote tracking target is equipped which characterized in that: comprises a tracking measurement fixed end and a mobile measurement end; the fixed end is measured including pursuit camera (1) to pursuit, and whole camera bolted connection is installed on motor assembly component (3), and laser rangefinder establishesThe device (2) is arranged on the motor assembling component (3) through bolt connection; the motor assembling component (3) is installed on the horizontal freedom degree motor (4) through threaded connection, and the motor can freely rotate horizontally; the horizontal freedom degree motor (4) is installed on the fixed end tripod (6) through bolt connection, and the fixed end electromechanical equipment assembly (5) is installed inside the fixed end tripod (6) through bolt connection; the mobile measuring end comprises a mobile end electromechanical equipment component (7) which is fixed on a mobile measuring rod (10) through threaded connection; the calibration measuring aperture (9) is fixed on the movable measuring rod (10); the measuring camera (8) is fixed on the movable measuring rod (10) in a threaded connection way; the measurement camera (8) can perform visual measurement on the whole measurement range H2, and the machine vision measurement result is H1; the distance between the laser point and the ground is H2; the absolute distance from the calibrated diaphragm to the ground is H3; encoder resolution angle reading θb、θcThe encoder is arranged in the horizontal freedom degree motor (4); reading L of real-time laser ranging devicea、Lb、LcReading by a laser ranging device (2); the origin (11) of the measurement result data is the rotation center of the horizontal freedom degree motor (4).
2. The high-precision three-coordinate measuring device capable of tracking the target remotely as claimed in claim 1, wherein: the tracking fixing end is horizontally placed on the ground, the levelness of the tracking fixing end can be adjusted, and the position of the mobile measuring end is within the tracking measuring range of the whole equipment.
3. The high-precision three-coordinate measuring device capable of tracking the target remotely as claimed in claim 1, wherein: the camera direction of the tracking camera (1) and the laser emitting point of the laser ranging equipment (2) are kept horizontal; the shooting starting point of the tracking camera (1) and the starting point position of the laser emission point are kept on the same standard.
4. The high-precision three-coordinate measuring device capable of tracking the target remotely as claimed in claim 1, wherein: the fixed end electromechanical equipment component (5) comprises a gyroscope module, a computer, a wireless communication module, a display screen and a motor driver; wherein, the display screen passes through bolted connection fixed and external in whole equipment unit outer end.
5. The high-precision three-coordinate measuring device capable of tracking the target remotely as claimed in claim 1, wherein: the mobile terminal electromechanical equipment assembly (7) comprises a gyroscope module, a computer, a wireless communication module and a voice module.
6. The high-precision three-coordinate measuring device capable of tracking the target remotely as claimed in claim 1, wherein: the horizontal freedom degree motor (4) adopts a direct drive motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022611959.2U CN215217491U (en) | 2020-11-12 | 2020-11-12 | High-precision three-coordinate measuring equipment capable of remotely tracking target |
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| CN202022611959.2U CN215217491U (en) | 2020-11-12 | 2020-11-12 | High-precision three-coordinate measuring equipment capable of remotely tracking target |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114485402A (en) * | 2022-01-26 | 2022-05-13 | 衷博瑞佳生物技术(上海)有限公司 | Laser following type position detection system and method |
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2020
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114485402A (en) * | 2022-01-26 | 2022-05-13 | 衷博瑞佳生物技术(上海)有限公司 | Laser following type position detection system and method |
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