CN110873558A - A measuring device and measuring method for distance and attitude angle - Google Patents
A measuring device and measuring method for distance and attitude angleDownload PDFInfo
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Abstract
Description
Translated fromChinese技术领域technical field
本发明涉及光电测量技术领域，尤其涉及一种距离和姿态角的测量装置及测量方法。The invention relates to the technical field of photoelectric measurement, in particular to a distance and attitude angle measurement device and measurement method.
背景技术Background technique
距离及姿态测量属于计量科学的重要组成部分，在航空航天、汽车制造、工业测量、精密加工以及仪器制造等许多领域都具有极其重要的意义和作用。由于其广泛的应用，国内外各研究单位进行了大量的研究，开发了多种测量方法。应用于距离测量的方法主要有：脉冲式激光测距技术、相位式激光测距技术以及双目交会式测距技术等。通常对距离和姿态角同时测量时，针对不同环境下的测量需求，选取其中的一种或多种技术进行组合，以满足测量需求。但以上这些方法在具体的测量环境中往往会遇到一些常见的问题，例如测量结构复杂，测量设备成本高、抗干扰性差以及测量设备体积较大，难以实现小型嵌入式设备应用等。Distance and attitude measurement is an important part of metrology science, and has extremely important significance and role in many fields such as aerospace, automobile manufacturing, industrial measurement, precision machining and instrument manufacturing. Due to its wide application, various research units at home and abroad have carried out a lot of research and developed a variety of measurement methods. The methods used in distance measurement mainly include pulsed laser ranging technology, phase laser ranging technology and binocular rendezvous ranging technology. Usually, when measuring distance and attitude angle at the same time, according to the measurement requirements in different environments, one or more of these technologies are selected and combined to meet the measurement requirements. However, these methods often encounter some common problems in specific measurement environments, such as complex measurement structure, high cost of measurement equipment, poor anti-interference performance, and large size of measurement equipment, making it difficult to implement small embedded device applications.
具体而言，虽然位置及姿态测量方法有多种，但是要实现两者的同时测量时，各自采用不同的测量手段，测量过程独立，使得测量结构非常复杂。另外采用如陀螺仪、加速度计等方法测量姿态时，往往需要多个传感器，使得设备成本增高。采用经纬仪交会测量不仅成本高而且设备体积较大，难以实现结构简单的测量。另外，现有的激光测距技术，都是基于激光点测量，如果测量背景中存在较强的干扰光源，例如太阳直射，灯光直射以及被各种反射面反射的杂光等。这些光斑形态各异，只要处于接收视场中，就会造成干扰，从而大大影响测量精度。再者，现有设备往往将测距与测量姿态分开，采用不同的传感器，数据不能共享。因此，测量设备体积相对较大。由于受到体积限制，很难将之应用于小型的嵌入式设备中，这将影响该技术在某些领域的推广应用。Specifically, although there are many methods for measuring the position and attitude, different measurement methods are used for simultaneous measurement of the two, and the measurement process is independent, which makes the measurement structure very complicated. In addition, when using methods such as gyroscopes and accelerometers to measure attitude, multiple sensors are often required, which increases the cost of equipment. The intersection measurement with theodolite is not only expensive but also bulky, and it is difficult to achieve measurement with a simple structure. In addition, the existing laser ranging technology is based on laser point measurement. If there is a strong interfering light source in the measurement background, such as direct sunlight, direct lighting, and stray light reflected by various reflective surfaces. These light spots have different shapes, and as long as they are in the receiving field of view, they will cause interference, which greatly affects the measurement accuracy. Furthermore, existing equipment often separates ranging and attitude measurement, uses different sensors, and cannot share data. Therefore, the measuring device is relatively bulky. Due to the limited size, it is difficult to apply it to small embedded devices, which will affect the popularization and application of this technology in some fields.
故有必要提出一种新的技术方案，以解决上述技术问题。Therefore, it is necessary to propose a new technical solution to solve the above-mentioned technical problems.
发明内容SUMMARY OF THE INVENTION
本发明实施例提供一种距离和姿态角的测量装置及测量方法，以解决现有距离和姿态角测量方法中存在的测量设备体积大、不能兼容嵌入式设备以及抗干扰性差的问题。The embodiments of the present invention provide a distance and attitude angle measurement device and measurement method, so as to solve the problems existing in the existing distance and attitude angle measurement methods that the measurement equipment is bulky, cannot be compatible with embedded equipment, and has poor anti-interference performance.
本发明实施例的第一方面提供了一种距离和姿态角的测量装置，所述测量装置包括测量设备和目标板；A first aspect of the embodiments of the present invention provides a distance and attitude angle measurement device, the measurement device includes a measurement device and a target board;
所述测量设备包括连接架，设置在所述连接架上的图像传感器、投射激光器以及光学镜头，所述图像传感器和所述投射激光器处于同一水平面内，且相对位置固定；所述目标板为一具有指定反射率和大小的金属平板，固定在被测物体上；The measuring equipment includes a connecting frame, an image sensor, a projection laser and an optical lens arranged on the connecting frame, the image sensor and the projection laser are in the same horizontal plane, and the relative positions are fixed; the target board is a A metal plate with specified reflectivity and size, fixed on the object to be measured;
所述投射激光器用于向所述目标板发出激光光束，所述目标板在被所述激光光束照射后，形成目标点测量点；所述光学镜头将所述目标点测量点成像到所述图像传感器上，所述图像传感器对所述目标点测量点的图像进行探测，并将探测数据发送到处理器；The projection laser is used to emit a laser beam to the target board, and the target board forms a target point measurement point after being irradiated by the laser beam; the optical lens images the target point measurement point to the image On the sensor, the image sensor detects the image of the measurement point of the target point, and sends the detection data to the processor;
所述处理器在接收到所述探测数据后，根据所述图像传感器、投射激光器以及所述目标点测量点之间的三角关系计算所述被测物体到所述测量设备的距离，通过角度标定计算所述被测物体的姿态角。After receiving the detection data, the processor calculates the distance from the measured object to the measurement device according to the triangular relationship between the image sensor, the projection laser and the target point measurement point, and calibrates the distance through the angle. Calculate the attitude angle of the measured object.
可选地，所述投射激光器发出的激光光束为十字激光光束，相应地，所述目标板在被所述激光光束照射后形成十字线，所述十字线的交叉点为所述目标测量点。Optionally, the laser beam emitted by the projection laser is a cross laser beam. Correspondingly, the target plate forms a cross line after being irradiated by the laser beam, and the intersection point of the cross line is the target measurement point.
可选地，所述投射激光器为红色半导体激光器。Optionally, the projection laser is a red semiconductor laser.
可选地，所述根据所述图像传感器、投射激光器以及所述目标点测量点之间的三角关系计算所述被测物体到所述测量设备的距离，包括：Optionally, calculating the distance from the measured object to the measuring device according to the triangular relationship between the image sensor, the projection laser and the target point measurement point includes:
获取所述图像传感器和所述投射激光器之间的直线距离AC；obtaining the straight-line distance AC between the image sensor and the projection laser;
根据所述目标测量点与所述图像传感器和所述投射激光器之间的位置关系绘制三角形ABC，其中A为所述图像传感器所在位置，B为所述目标测量点所在位置，C为所述投射激光器所在位置；Draw a triangle ABC according to the positional relationship between the target measurement point, the image sensor and the projection laser, where A is the position of the image sensor, B is the position of the target measurement point, and C is the projection the location of the laser;
获取AC与BC之间的夹角α，CA与AB之间夹角β以及AB与BC之间夹角θ；Obtain the angle α between AC and BC, the angle β between CA and AB, and the angle θ between AB and BC;
通过公式
所述姿态角φ采用标定的方式获得，首先根据所述图像传感器上获得的十字交叉图像，即直线a和直线b，通过图像处理获得其夹角ω，同时标定此时的所述姿态角φ，经过多次标定获得其一一对应关系。The attitude angle φ is obtained by calibration. First, according to the cross image obtained on the image sensor, that is, the straight line a and the straight line b, the included angle ω is obtained through image processing, and the attitude angle φ at this time is calibrated at the same time. , and obtained its one-to-one correspondence after multiple calibrations.
可选地，所述处理器为通用DSP图像处理平台。Optionally, the processor is a general-purpose DSP image processing platform.
本发明实施例的第二方面提供了一种距离和姿态角的测量方法，应用于上述第一方面所述的任一项测量装置，包括：A second aspect of the embodiments of the present invention provides a method for measuring distance and attitude angle, which is applied to any measurement device described in the first aspect, including:
测量装置通电后，投射激光器向目标板投射激光光束；After the measuring device is powered on, the projection laser projects a laser beam to the target board;
所述目标板在被所述激光光束照射后，形成目标点测量点；After the target plate is irradiated by the laser beam, a target point measurement point is formed;
光学镜头将所述目标点测量点成像到图像传感器上，以使所述图像传感器对所述目标点测量点的图像进行探测，并将探测数据发送到处理器；The optical lens images the target point measurement point on an image sensor, so that the image sensor detects the image of the target point measurement point, and sends the detection data to the processor;
所述处理器在接收到所述探测数据后，根据所述图像传感器、投射激光器以及所述目标点测量点之间的三角关系计算所述被测物体到所述测量设备的距离，通过角度标定计算所述被测物体的姿态角。After receiving the detection data, the processor calculates the distance from the measured object to the measurement device according to the triangular relationship between the image sensor, the projection laser and the target point measurement point, and calibrates the distance through the angle. Calculate the attitude angle of the measured object.
可选地，所述投射激光器发出的激光光束为十字激光光束，相应地，所述目标板在被所述激光光束照射后形成十字线，所述十字线的交叉点为所述目标测量点。Optionally, the laser beam emitted by the projection laser is a cross laser beam. Correspondingly, the target plate forms a cross line after being irradiated by the laser beam, and the intersection point of the cross line is the target measurement point.
可选地，所述投射激光器为红色半导体激光器。Optionally, the projection laser is a red semiconductor laser.
可选地，所述根据所述图像传感器、投射激光器以及所述目标点测量点之间的三角关系计算所述被测物体到所述测量设备的距离，包括：Optionally, calculating the distance from the measured object to the measuring device according to the triangular relationship between the image sensor, the projection laser and the target point measurement point includes:
获取所述图像传感器和所述投射激光器之间的直线距离AC；obtaining the straight-line distance AC between the image sensor and the projection laser;
根据所述目标测量点与所述所述图像传感器和所述投射激光器之间的位置关系绘制三角形ABC，其中A为所述图像传感器所在位置，B为所述目标测量点所在位置，C为所述投射激光器所在位置；According to the positional relationship between the target measurement point and the image sensor and the projection laser, a triangle ABC is drawn, where A is the position of the image sensor, B is the position of the target measurement point, and C is the position of the target measurement point. the location of the projection laser;
获取AC与BC之间的夹角α，CA与AB之间夹角β以及AB与BC之间夹角θ；Obtain the angle α between AC and BC, the angle β between CA and AB, and the angle θ between AB and BC;
通过公式
可选地，所述处理器为通用DSP图像处理平台。Optionally, the processor is a general-purpose DSP image processing platform.
本发明实施例与现有技术相比存在的有益效果：本申请提供的距离和姿态角测测量装置，在同一套光机电系统中实现距离和姿态角的同时同步测量，使得测量设备结构简单，体积小，可以实现较远距离非接触测量，测量距离最远可10m；采用激光法照射确定目标测量点，可以滤除图像中其它光斑的干扰，实现在日光、灯光下的全天室外测量；另外，采用主动投射激光的方法进行姿态测量，可以避免采用诸如陀螺仪、加速度计等受测量环境影响严重的传感器，使得测量数据具有更高的可靠性。Compared with the prior art, the embodiments of the present invention have beneficial effects: the distance and attitude angle measuring device provided by the present application realizes simultaneous synchronous measurement of distance and attitude angle in the same set of opto-mechanical systems, so that the structure of the measuring equipment is simple, Small in size, it can achieve non-contact measurement at a long distance, and the measurement distance can be up to 10m; the laser method is used to determine the target measurement point, which can filter out the interference of other light spots in the image, and realize all-day outdoor measurement under sunlight and light; In addition, adopting the method of actively projecting lasers for attitude measurement can avoid the use of sensors such as gyroscopes and accelerometers that are seriously affected by the measurement environment, making the measurement data more reliable.
附图说明Description of drawings
为了更清楚地说明本发明实施例的技术方法，下面将实施例或现有技术描述中所需要的附图作简单介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图得到其他的附图。In order to illustrate the technical methods of the embodiments of the present invention more clearly, the accompanying drawings required in the description of the embodiments or the prior art are briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.
图1为本发明实施例提供的一种距离和姿态角的测量装置的结构示意图；1 is a schematic structural diagram of a device for measuring distance and attitude angle provided by an embodiment of the present invention;
图2为本发明提供的测量原理图；Fig. 2 is the measurement principle diagram provided by the present invention;
图3为本发明实施例提供的姿态角测量原理图；3 is a schematic diagram of an attitude angle measurement provided by an embodiment of the present invention;
图4为本发明另一实施例提供的距离和姿态角的测量方法实现流程示意图。FIG. 4 is a schematic diagram of an implementation flowchart of a method for measuring a distance and an attitude angle provided by another embodiment of the present invention.
具体实施方式Detailed ways
以下描述中，为了说明而不是为了限定，提出了诸如特定结构、技术之类的具体细节，以便透彻理解本发明提供的实施例。然而，本领域技术人员应当清楚，在没有这些具体细节的其他实施例中也可以实现本发明。在其他情况中，省略对众所周知的系统、装置、电路以及方法的详细说明，以免不必要的细节妨碍本发明的描述。In the following description, for purposes of illustration rather than limitation, specific details such as specific structures and techniques are set forth in order to provide a thorough understanding of the embodiments provided by the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
图1是本发明实施例提供的一种距离和姿态角的测量装置示意图，该装置包括测量设备1和目标板2；1 is a schematic diagram of a measuring device for distance and attitude angle provided by an embodiment of the present invention, and the device includes a measuring device 1 and a target board 2;
所述测量设备1包括连接架11，设置在所述连接架上的图像传感器12、投射激光器13以及光学镜头14，所述图像传感器12和所述投射激光器13处于同一水平面内，且相对位置固定；所述目标板2为一具有指定反射率和大小的金属平板，固定在被测物体上；The measuring device 1 includes a connecting frame 11, an
所述投射激光器13用于向所述目标板2发出激光光束，所述目标板2在被所述激光光束照射后，形成目标点测量点；所述光学镜头14将所述目标点测量点成像到所述图像传感器12上，所述图像传感器12对所述目标点测量点的图像进行探测，并将探测数据发送到处理器15；The
所述处理器15在接收到所述探测数据后，根据所述图像传感器12、投射激光器13以及所述目标点测量点之间的三角关系计算所述被测物体到所述测量设备的距离，通过角度标定计算所述被测物体的姿态角。After receiving the detection data, the
具体地，本发明的距离及姿态角测量装置组成如附图1所示，因为需要测量两个相距较远点的相对距离及姿态角，因此分为测量装置和目标板两部分。测量设备主要包括光学镜头14、图像传感器12、处理平台15、投射激光器13以及用于承载的连接架11；目标板2只包含合作目标板21。Specifically, the composition of the distance and attitude angle measuring device of the present invention is shown in FIG. 1 , because it is necessary to measure the relative distance and attitude angle of two distant points, it is divided into two parts: the measuring device and the target board. The measurement equipment mainly includes an
进一步地，光学镜头14可以选择成熟的工业镜头，根据测量环境选择适当的焦距和口径即可，本例采用200mm焦距，20mm口径的光学镜头。图像传感器12同样可以选择通用工业相机，根据测量环境选择适当的像元大小及分辨率，本例选择6μm像元大小，1024×1024分辨率相机。处理平台15为通用DSP图像处理平台，可以实时采集图像数据。投射激光器13采用十字激光光束。连接架11为定制机械框架，主要作用是承载以上部件并保持结构稳定。目标板2为光滑平整具有一定反射率的金属平板。本例采用铝板喷漆，对激光光波段反射率为10％的平板。Further, the
下面结合附图对本发明主要部件构造作进一步详细说明，整个系统主要部件构造及其功能如下所示：The structure of the main components of the present invention will be described in further detail below in conjunction with the accompanying drawings. The structure of the main components of the entire system and their functions are as follows:
测量设备1部分为测量装置主体部分，完成的功能为投射激光光束，优选为，投射出十字线激光，接收目标板反射回的图像并对其进行数据处理，获得测量结果。下面对各个组成部分进行详细介绍。The first part of the measuring device is the main part of the measuring device, and the completed function is to project a laser beam, preferably, to project a cross-hair laser, receive the image reflected by the target plate, and perform data processing on it to obtain the measurement result. Each component is described in detail below.
光学镜头14、图像传感器12和投射激光器13安装并固定于连接架11上，处理平台15可以安装在连接架11上，也可以设置在其他位置。其中图像传感器12和投射激光器13为测量主要执行部件，其安装位置及角度对测量精度有直接的影响。其安装位置点如附图2所示。The
图2中xCy平面为水平面，点A为投射激光器13发光点位置，点B为激光十字线中心照射到目标板2上像点，AB方向为激光投射方向；点C为图像探测器等效中心，CB方向为光学镜头光轴方向。In Figure 2, the xCy plane is a horizontal plane, point A is the position of the light-emitting point of the
投射激光器13为测量提供十字线标记，可以采用红色半导体激光器。既保证清晰可探测，又具有良好的大气透过性。光源功率推荐为1mW，既具有较高的强度，又可以保证测量范围内不会造成人眼伤害。The
光学镜头14是成像部件，将投射到目标板上的十字线图像成像到图像传感器上，其成像质量和焦距长度是测量精度的主要决定因素。根据所需测量距离及测量精度要求选择合适焦距。The
图像传感器12采集通过光学镜头成像的十字线图像数据，并将该数据发送到处理平台15。图像传感器12的主要参数是图像分辨率和像元大小，根据需要测量距离范围选择，在10m测量范围内，推荐1024×1024分辨率，像元大小6μm。处理平台15需要具有图像输入接口并且具有图像处理能力的硬件平台，可以采用DSP处理平台。The
目标板2放置于被测点，是具有一定反射率的平板。该平板需要具有一定的大小，以保证投射激光器投射出十字线激光能够投射到该平面上，表面平整，投射激光器投射出十字线激光打在合作目标板上，形成一个具有一定夹角的十字图像。该平板通过调节水平的方式保证垂直于水平面。The target plate 2 is placed at the measured point and is a flat plate with a certain reflectivity. The plate needs to have a certain size to ensure that the cross-line laser projected by the projection laser can be projected onto the plane, and the surface is flat. The projection laser projects the cross-line laser to hit the cooperative target plate to form a cross image with a certain angle. . The plate is ensured to be perpendicular to the horizontal plane by adjusting the level.
图4示出了本申请提供的测量装置对应的测量方法的流程图，包括：Fig. 4 shows the flow chart of the measurement method corresponding to the measurement device provided by the present application, including:
步骤41，测量装置通电后，投射激光器向目标板投射激光光束。
步骤42，所述目标板在被所述激光光束照射后，形成目标点测量点。
步骤43，光学镜头将所述目标点测量点成像到图像传感器上，以使所述图像传感器对所述目标点测量点的图像进行探测，并将探测数据发送到处理器；
步骤44，所述处理器在接收到所述探测数据后，根据所述图像传感器、投射激光器以及所述目标点测量点之间的三角关系计算所述被测物体到所述测量设备的距离，通过角度标定计算所述被测物体的姿态角。
具体地，本申请的测量对象分别为目标点到测量端的距离和目标点平面同测量端平面间夹角。结合附图2-3对距离测量原理进行介绍：Specifically, the measurement objects in the present application are the distance from the target point to the measurement end and the angle between the target point plane and the measurement end plane. The principle of distance measurement is introduced in conjunction with Figures 2-3:
根据三角形关系可以看出，BD即为目标到测量设备间的距离。其计算公式如下：According to the triangle relationship, it can be seen that BD is the distance between the target and the measuring device. Its calculation formula is as follows:
其中，AC是固定值可以精确标定出数值，β是固定值可以精确标定出数值，α角通过图像传感器位置进行计算，θ角通过三角形内角和进行计算。Among them, AC is a fixed value that can accurately calibrate the value, β is a fixed value that can accurately calibrate the value, the α angle is calculated by the position of the image sensor, and the θ angle is calculated by the sum of the interior angles of the triangle.
目标板通过调节水平的方式垂直地面放置，因此其姿态φ角为一维量，即沿垂直于地面的旋转角。由于该角度的变换会同步影响激光十字线的夹角，因此该角度量的测量采用标定的方法，即分别测量激光十字线的夹角和相对应的旋转角，通过数据拟合的方法确定其对应关系。目前这种一维姿态角测量方法主要有自准直法、双目测量法和光电编码器法。自准直法测量精度高，但测量范围很小；双目测量测量精度较高，测量范围较大，缺点是设备较为庞大，需要较长基线，通常作为单独设备使用，很少能集成到单个设备中；光电编码器测量精度高，但是属于非接触测量，不能实现空间远距离测量。The target board is placed vertically on the ground by adjusting the level, so its attitude φ angle is a one-dimensional quantity, that is, along the rotation angle perpendicular to the ground. Since the transformation of this angle will affect the included angle of the laser cross synchronously, the measurement of the angle is a calibration method, that is, the included angle of the laser cross and the corresponding rotation angle are measured separately, and the data fitting method is used to determine the angle. Correspondence. At present, this one-dimensional attitude angle measurement method mainly includes autocollimation method, binocular measurement method and photoelectric encoder method. The autocollimation method has high measurement accuracy, but a small measurement range; binocular measurement has high measurement accuracy and a large measurement range. The disadvantage is that the equipment is relatively large and requires a long baseline. It is usually used as a separate device and can rarely be integrated into a single device. In the equipment; the photoelectric encoder has high measurement accuracy, but it belongs to non-contact measurement and cannot realize long-distance measurement in space.
因此，本例采用标定的方法获得姿态角。首先根据所述图像传感器上获得的十字交叉图像，即直线a和直线b，通过图像处理获得其夹角ω，同时标定此时的所述姿态角φ，经过多次标定获得其一一对应关系。Therefore, in this example, the calibration method is used to obtain the attitude angle. Firstly, according to the cross image obtained on the image sensor, namely the straight line a and the straight line b, the included angle ω is obtained through image processing, and the attitude angle φ at this time is calibrated at the same time, and its one-to-one correspondence is obtained after multiple calibrations .
结合图4介绍具体测量过程：The specific measurement process is introduced in conjunction with Figure 4:
通电后，投射激光器投射出十字激光光束到目标板，测量端通过光学镜头接收目标板上的十字激光图像。图像传感器采集图像信息，产生数据并发送到就处理平台。处理平台进行软件处理，首先，将获取到的十字线图像进行边缘处理，获得十字线边缘，拟合这两条线得到相交点图像数据。然后，对该交点数据进行重心处理，获得交点的位置坐标，根据该坐标计算可得∠DCB大小，用于距离计算。接着，通过图像处理获取两直线的斜率，并计算两条直线的夹角，通过该夹角进行姿态角测量。将处理好的结果输出显示。After power-on, the projection laser projects a cross laser beam to the target board, and the measuring end receives the cross laser image on the target board through the optical lens. The image sensor collects image information, generates data and sends it to the processing platform. The processing platform performs software processing. First, the acquired reticle image is edge processed to obtain the reticle edge, and the two lines are fitted to obtain the image data of the intersection point. Then, the center of gravity processing is performed on the intersection data to obtain the position coordinates of the intersection. According to the coordinates, the size of ∠DCB can be obtained, which is used for distance calculation. Next, the slopes of the two straight lines are acquired through image processing, and the included angle of the two straight lines is calculated, and the attitude angle is measured by the included angle. Display the processed result output.
经过搭建实验平台后多次试验表明，该发明方法测量可行，精度符合预期效果；距离量测量范围：1m～10m；距离量测量精度：0.02mm；姿态角度测量范围：±5°；姿态角度测量精度为：1′。After building an experimental platform, many tests show that the method of the invention is feasible to measure, and the accuracy meets the expected effect; distance measurement range: 1m ~ 10m; distance measurement accuracy: 0.02mm; attitude angle measurement range: ±5°; attitude angle measurement The precision is: 1'.
需要说明的是，本发明采用的光学镜头、图像传感器及投射激光器均为可购买到的通用工业设备，如果对测量设备体积重量有要求可以进行定制。其中光学镜头焦距、口径均可适当修改；图像传感器像面大小可以更改为更大面阵的器件；投射激光器也可以根据需要对波长进行更改。It should be noted that the optical lens, image sensor and projection laser used in the present invention are all commercially available general-purpose industrial equipment, and can be customized if there are requirements for the volume and weight of the measuring equipment. The focal length and aperture of the optical lens can be modified appropriately; the image size of the image sensor can be changed to a device with a larger area array; the wavelength of the projection laser can also be changed as required.
本申请提供的距离和姿态角测测量装置，在同一套光机电系统中实现距离和姿态角的同时同步测量，使得测量设备结构简单，体积小，可以实现较远距离非接触测量，测量距离最远可10m；采用激光法照射确定目标测量点，可以滤除图像中其它光斑的干扰，实现在日光、灯光下的全天室外测量；另外，采用主动投射激光的方法进行姿态测量，可以避免采用诸如陀螺仪、加速度计等受测量环境影响严重的传感器，使得测量数据具有更高的可靠性。The distance and attitude angle measuring device provided by the present application realizes simultaneous synchronous measurement of distance and attitude angle in the same set of opto-mechanical systems, so that the measuring device has a simple structure and small size, and can realize non-contact measurement at a relatively long distance. It can be as far as 10m; the laser method is used to determine the target measurement point, which can filter out the interference of other light spots in the image, and realize all-sky outdoor measurement under sunlight and light; Sensors such as gyroscopes and accelerometers that are seriously affected by the measurement environment make the measurement data more reliable.
以上实施例仅用于对本发明进行说明，而非限定；尽管参照前述实施例对本发明进行了详细说明，本领域普通技术人员应该理解：其依然可以对前述各实施例所记载的技术方案进行修改，或对其中部分技术特征进行等同替换；而这些修改或替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。The above embodiments are only used to illustrate the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that the technical solutions described in the foregoing embodiments can still be modified. , or equivalently replace some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.
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