CN113029124A - Three-dimensional attitude and position measuring device based on infrared vision guidance and laser ranging - Google Patents
Three-dimensional attitude and position measuring device based on infrared vision guidance and laser ranging Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
本发明公布了一种基于红外视觉引导和激光测距的三维姿态位置测量装置，主要由激光Y轴旋转部件A、激光X轴旋转部件B、激光部件C、图像采集部件D、靶标I、目标物体II组成。通过调整激光X轴旋转部件(B)和激光Y轴旋转部件(A)使激光部件(C)的测点处于目标物体(II)上的靶标(I)上，由图像采集部件(D)对靶标(I)进行图像采集，经过图像处理，不断优化激光测点位置，最终使激光测点位于靶标(I)中心，精确定位靶标(I)位置；在靶标(I)中心点附近的小区域内，利用激光部件(C)扫描获得一系列距离数据，再基于距离数据和传感器倾角，采用空间平面拟合方法，解算获得靶标(I)空间位置和姿态，从而准确、快速、稳定、连续地实现对空间目标物体的位置测量和姿态测量。
The invention discloses a three-dimensional attitude and position measurement device based on infrared vision guidance and laser ranging, which mainly consists of a laser Y-axis rotating part A, a laser X-axis rotating part B, a laser part C, an image acquisition part D, a target I, a target Object II composition. By adjusting the laser X-axis rotating part (B) and the laser Y-axis rotating part (A), the measuring point of the laser part (C) is on the target (I) on the target object (II), and the image acquisition part (D) The target (I) is imaged, and after image processing, the position of the laser measuring point is continuously optimized, and finally the laser measuring point is located in the center of the target (I), and the position of the target (I) is accurately positioned; in a small area near the center of the target (I) , use the laser component (C) to scan to obtain a series of distance data, and then based on the distance data and the sensor inclination, use the spatial plane fitting method to solve the target (I) space position and attitude, so as to accurately, quickly, steadily and continuously Realize the position measurement and attitude measurement of space target objects.
Description
Technical Field
The invention belongs to the field of measurement of three-dimensional attitude and position of a target object, and particularly relates to a three-dimensional attitude and position measuring device based on infrared visual guidance and laser ranging.
Background
With the continuous development of modern industry, in some occasions where large-scale high-precision field real-time measurement is required, such as track slab installation and adjustment of a high-speed railway, component installation of a precise numerical control machine tool, installation and debugging of a large-scale water turbine generator set, installation and detection of a large-scale ship lift and electromechanical equipment, installation, adjustment and measurement of a high-energy particle accelerator magnet, and product assembly and detection in the ship industry, aircraft assembly and automobile manufacturing industry, the refinement degree of the assembly process is higher and higher, the requirement on the installation precision is higher and higher, and even the measurement-level precision of 0.01-0.05 mm in the large structure size is required to be achieved. The traditional measuring method has the defects of narrow measuring range, incapability of on-site measurement and high requirement on environment, and can not meet the requirement of modern measurement. At present, related products researched and developed at home basically have the defects of low measurement efficiency, low measurement precision, poor stability and inconvenient use, and foreign products are generally very expensive in manufacturing cost and relatively complex in use method.
In summary, the development of the three-dimensional attitude and position measurement technology of the target object urgently needs a three-dimensional attitude and position measurement device based on infrared visual guidance and laser ranging, and the three-dimensional attitude and position measurement device can accurately, quickly, stably and continuously measure the three-dimensional attitude and position of the target. The three-dimensional attitude position measuring device based on infrared vision guidance and laser ranging is designed and developed, and has important significance and practical application value.
Disclosure of Invention
The invention aims to provide a three-dimensional attitude position measuring device based on infrared vision guidance and laser ranging, which can realize accurate positioning and three-dimensional attitude measurement of a space target object.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a three-dimensional attitude position measuring device based on infrared vision guidance and laser ranging mainly comprises a laser Y-axis rotating component A, a laser X-axis rotating component B, a laser component C, an image acquisition component D, Z, an axis moving component E, Y, an axis moving component F, a base G, a target I and a target object II. The Y-axis moving component F is fixed on the base G and connected with the Z-axis moving component E through a lathe carriage, the Z-axis moving component E is fixed on the lower surface of the support column, the laser X-axis rotating component B is fixed on the upper surface of the support column through a connecting piece, the laser Y-axis rotating component A is fixed on the laser X-axis rotating component B through a connecting piece, the laser component C is fixed on the laser Y-axis rotating component A through a connecting piece, the image acquisition component D is fixed on the lower surface of the support column through a connecting piece, the target object II is located in the field range of the image acquisition component D, and the target I is fixed on the side surface of. In order to ensure the measurement accuracy, the rotation centers of the laser X-axis rotating component B and the laser Y-axis rotating component A should intersect on the extension line of the laser ray as much as possible.
Furthermore, the laser Y-axis rotating part A and the laser X-axis rotating part B mainly comprise a Y-axis rotary table, a laser Y-axis rotary encoder, an X-axis rotary table and a laser X-axis rotary encoder, and the rotary motion of the laser displacement sensor around the X axis and the Y axis and the data output of the rotating angle around the X axis and the Y axis are realized. The Y-axis rotary encoder is connected with the Y-axis turntable through a U-shaped connecting piece, and the Y-axis turntable is fixed on the upper surface of the strut through an L-shaped connecting piece; the X-axis rotary encoder is connected with an X-axis turntable through a U-shaped connecting piece, and the X-axis turntable is fixed on the upper surface of the support.
Furthermore, the Y-axis moving component F mainly comprises a stepping motor and a lead screw, and realizes the + Y and-Y direction movement of the image acquisition component I and the laser component II.
Furthermore, the Z-axis moving component E mainly comprises a stepping motor and a lead screw, and the + Z and-Z directions of the image acquisition component I and the laser component II are moved.
Furthermore, the image acquisition part D mainly comprises an infrared camera and an L-shaped connecting piece, and realizes the image acquisition of the target on the target object. Wherein the infrared camera is fixed on the pillar along the Z-axis positive direction through an L-shaped connecting piece.
Further, the laser component C mainly comprises a laser displacement sensor and an L-shaped connecting piece, and distance data of a target on the target object can be acquired. Wherein, the laser displacement sensor is fixed on the X-axis turntable through an L-shaped connecting piece.
Furthermore, the target I mainly comprises a target upper plate, an infrared diode, a button cell, a target lower plate and a bolt, and the positioning and three-dimensional attitude measurement of the target object are realized by providing an infrared camera image for assistance. The infrared diode is fixed in a lamp tube hole in the target and is powered by a button battery.
The invention has the advantages that: the device is based on an infrared camera and a laser displacement sensor, and provides a brand-new method for measuring the position and the posture of a target; the position of the space target object can be accurately, quickly, stably and continuously measured and accurately positioned, and the pose measurement of the space target object can be realized.
Drawings
FIG. 1 is a rear isometric view of the overall structure of the invention
FIG. 2 is a front isometric view of the overall construction of the present invention
FIG. 3 is a front isometric view of a laser X-axis and Y-axis rotating component structure of the present invention
FIG. 4 is an isometric view of a target decomposition structure according to the present invention
FIG. 5 is a schematic diagram of an image acquisition system according to the present invention
FIG. 6 is a schematic view of a measurement process according to the present invention
Wherein: A. a laser Y-axis rotating component; B. a laser X-axis rotating member; C. a laser component; D. an image acquisition component; E. a Z-axis moving member; F. a Y-axis moving member; G. a base; I. a target; II. A target object; 1. a laser Y-axis rotary encoder; 2. a laser displacement sensor connection; 3. a laser displacement sensor; 4. an L-shaped connector; 5. a U-shaped connecting piece; 6. an infrared camera; 7. an L-shaped camera attachment; 8. a Y-axis turntable; 9. a laser X-axis rotary encoder; 10. an X-axis turntable; 11. a pillar; 12. target plate loading; 13. an infrared diode; 14. a button cell; 15. a target lower plate; 16. a bolt;
Detailed Description
The invention is further described below with reference to the accompanying drawings:
the device is a three-dimensional attitude position measuring device based on infrared vision guidance and laser ranging. Referring to fig. 2, in measuring a target object in a three-dimensional space, a three-dimensional coordinate system needs to be established first. Referring to fig. 1, 2 and 6, the Y-axis moving part (F) and the Z-axis moving part (E) are adjusted, as indicated by the direction in fig. 1, so that the target (I) mounted on the target object (II) is in the field of view of the image capturing part (D), and a preparation is made for correct measurement.
Referring to the attached drawings 1 and 6, when a target object is subjected to position measurement, a laser X-axis rotating component (B) and a laser Y-axis rotating component (A) are adjusted to enable a measuring point of a laser displacement sensor (2) to be located on a target (I) on a target object (II), then an infrared camera (6) of an image acquisition component (D) is used for acquiring image data of the target (I) installed on the target object (II), referring to the attached drawing 5, the image data is processed and then 1-10 infrared diode light spots are fitted, and an image coordinate of the target (I) in an image and an image coordinate of the laser point are acquired; and repeating the process continuously until the image distance difference between the image coordinate of the target (I) and the image coordinate of the laser point is smaller than a specific threshold value set by the user, converting the three-dimensional coordinate of the target (I) under the space coordinate system according to the data output by the laser X-axis rotary encoder (9), the laser Y-axis rotary encoder (1) and the laser displacement sensor (3) to obtain the three-dimensional coordinate of the target (I), calculating the three-dimensional coordinate of the target object (II) according to the installation position relation of the target (I) and the target object, completing the position measurement of the target object (II), and realizing accurate positioning.
Referring to the attached drawings 1 and 6, when attitude measurement is performed on a target object, a precise positioning point is taken as an initial point, in a small area near a target center point, a measuring point of a laser displacement sensor (3) is scanned and measured on a target (I) of the target object (II) by adjusting a laser X-axis rotating component (B) and a laser Y-axis rotating component (A) to obtain a series of distance data, and then the spatial three-dimensional coordinates are resolved by data output by a laser X-axis rotary encoder (9), a laser Y-axis rotary encoder (1) and the laser displacement sensor (3) to obtain spatial three-dimensional point cloud data; and performing space plane fitting on the three-dimensional point cloud data by using an integral least square method to obtain a space plane equation of the surface of the target (I), so as to obtain the space attitude of the target (I), and solving the space three-dimensional attitude of the target object according to the position relation between the target (I) and the target object (II) to realize the measurement of the three-dimensional attitude of the target object.
The above examples illustrate the structural features and technical solutions of the present patent in order to make the patent known to the researchers and engineers working in this field and to enable the realization of the product accordingly.
Claims (3)
1. A three-dimensional attitude position measuring device based on infrared vision guidance and laser ranging is characterized by mainly comprising a laser Y-axis rotating component A, a laser X-axis rotating component B, a laser component C, an image acquisition component D, Z, an axis moving component E, Y, an axis moving component F, a base G, a target I and a target object II.
2. The three-dimensional attitude and position measuring device based on infrared vision guidance and laser ranging as claimed in claim 1, wherein the image acquisition component D mainly comprises an infrared camera and an L-shaped connecting piece, and is used for realizing image acquisition of a target I on a target object II. Wherein the infrared camera is fixed on the pillar along the Z-axis positive direction through an L-shaped connecting piece.
3. The three-dimensional attitude position measuring device based on infrared vision guidance and laser ranging as claimed in claim 1, wherein the target I mainly comprises a target upper plate 12, an infrared diode 13, a button cell 14, a target lower plate 15 and a bolt 16, and positioning and three-dimensional attitude measurement of a target object are realized by providing an infrared camera image for assistance. Wherein, the infrared diode 13 is fixed in the lamp hole inside the target and is powered by the button cell 14.
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Cited By (2)
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| CN114355957A (en) * | 2021-12-29 | 2022-04-15 | 深圳市镭神智能系统有限公司 | Unmanned aerial vehicle autonomous ship method, system and unmanned aerial vehicle |
| CN118293930A (en) * | 2024-06-05 | 2024-07-05 | 石家庄铁道大学 | A single-track detector attitude control method based on vision and laser measurement |
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