CN119780951A - Coordinate measurement system, method and computer equipment based on rotational laser scanning - Google Patents
Coordinate measurement system, method and computer equipment based on rotational laser scanning Download PDFInfo
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Abstract
The application discloses a coordinate measuring system, a method and computer equipment based on rotary laser scanning, which comprises a pulse light source for emitting pulse laser at fixed time intervals, a rotary device for enabling a reflecting component to reflect the pulse laser to different directions in the rotating process, a reference detector for compensating the rotation angular velocity of the rotary device based on the received pulse laser, and a target detector for determining coordinates based on the received pulse laser. According to the scheme provided by the application, on the premise of not carrying a complex light path, the interference of the environment on the light path can be compensated by introducing a plurality of photoelectric detectors, so that the measurement accuracy of the coordinate information is improved.
Description
Technical Field
The application relates to the technical field of measurement, in particular to a coordinate measurement system, a method and computer equipment based on rotary laser scanning.
Background
In the field of measurement, coordinate measurement is an important component thereof, and with the advancement of technology, the demand for measurement accuracy of coordinates is also increasing, especially in an industrial environment, for example, in the coordinate measurement process of an industrial field, where the measurement accuracy of coordinates is particularly important.
At present, more common coordinate measurement includes modes of a laser tracker, an indoor positioning (iGPS), a workshop measurement positioning system (wMPS) and the like, and in order to improve the coordinate measurement progress, it is currently proposed to use a femtosecond optical comb as a light source and use traceability of a pulse frequency of the femtosecond optical comb in a time domain, so as to improve the measurement accuracy of coordinates. However, in the above-mentioned process, under some special industrial environments, such as special temperature and humidity, the propagation of the laser is disturbed by the environment, so that the laser pulse emitted uniformly is not uniform at the measured object, so that the measured data is not ideal, and usually, an additional complex optical path needs to be set up to compensate.
Disclosure of Invention
Aiming at the technical problems, the embodiment of the application provides a coordinate measuring system, a method and computer equipment based on rotary laser scanning, which aim to solve the problem that the measurement result is not accurate enough due to environmental influence in the related coordinate measuring technology.
In a first aspect, an embodiment of the present application provides a coordinate measurement system based on rotary laser scanning, including:
A pulse light source for emitting pulse laser light at fixed time intervals;
the rotating device is provided with a reflecting component, and the rotating device enables the reflecting component to reflect the pulse laser to different directions in the rotating process;
the system comprises a plurality of photoelectric detectors, a plurality of detection units and a detection unit, wherein the plurality of photoelectric detectors comprise at least one target detector at a position to be detected and at least one reference detector at a preset position;
The reference detector is used for determining disturbance information of a measuring environment to the pulse laser based on the received pulse laser so as to compensate the rotation angular velocity of the rotating device according to the disturbance information, and
The target detector is used for determining coordinate information of the position to be detected relative to the rotating device based on the received pulse laser.
As a possible embodiment of the present application, the pulse light source is a mode-locked laser light source, and the pulse laser is a femtosecond optical frequency comb.
In a second aspect, an embodiment of the present application provides a coordinate measurement method based on rotary laser scanning, where the method performs coordinate measurement based on the coordinate measurement system as described above, and the method includes the following steps:
Collecting a first pulse quantity of pulse laser emitted by a pulse light source detected by a target detector in a preset period, and a first pulse time
Determining coordinate information of a position to be detected, where the target detector is located, relative to a rotating device based on the first pulse number and the first pulse time;
The method further comprises the steps of:
And acquiring a second pulse number of the pulse laser detected by the reference detector in a preset period, determining disturbance information of the measuring environment on the pulse laser according to the second pulse number, and compensating the rotation angular velocity of the rotating device according to the disturbance information.
As a possible embodiment of the present application, the determining, based on the first pulse number and the first pulse time, coordinate information of the position to be measured where the target detector is located relative to the rotating device includes:
Determining distance information of a position to be detected, where the target detector is located, relative to the rotating device based on the first pulse number, the preset angular speed of the rotating device, the preset pulse period of the pulse light source and the detection width of the target detector;
Determining angle information of a position to be detected, where the target detector is located, relative to a reference direction based on time interval information of the first pulse time relative to a preset reference time and a preset angular speed of the rotating device, wherein the preset reference time is time information when the light reflecting component reflects pulse laser to the preset reference direction;
and determining coordinate information of the position to be detected, where the target detector is located, relative to the rotating device according to the distance information and the angle information.
As a possible embodiment of the present application, the determining distance information of the position to be measured where the target detector is located relative to the rotating device based on the first pulse number, the preset angular velocity of the rotating device, the preset pulse period of the pulse light source, and the detection width of the target detector includes:
determining a scanning angle of the target detector relative to the rotating device based on the first pulse number, a preset angular velocity of the rotating device, and a preset pulse period of a pulse light source;
And determining the distance information of the position to be detected, where the target detector is located, relative to the rotating device according to the scanning angle and the detection width of the target detector.
As a possible embodiment of the present application, the distance information d of the position to be measured with respect to the rotating device is determined by the following formula:
d=2a/tan(θ/2);
wherein a is the detection width of the target detector, θ is the detection angle of the target detector relative to the rotating device, and the calculation formula of the detection angle θ is as follows:
θ=N1ωΔt;
Wherein N 1 is the first pulse number, ω is the preset angular velocity of the rotating device, and Δt is the preset pulse period of the pulse light source.
As a possible embodiment of the present application, the determining disturbance information of the pulsed laser by the measurement environment according to the second pulse number includes:
Determining a real-time angular velocity of the rotating device based on a preset distance of a reference detector relative to the rotating device, a detection width of the reference detector, and the second pulse number;
and determining disturbance information of the measuring environment on the pulse laser according to the difference value of the real-time angular velocity and the preset angular velocity.
As a possible embodiment of the present application, in the case where the detection width of the target detector and the detection width of the reference detector are equal, the method further includes:
determining an estimated distance of the target detector relative to the rotating device based on the preset distance, the first pulse number and the second pulse number;
after determining the distance information of the position to be measured, where the target detector is located, relative to the rotating device according to the detection angle and the detection width of the target detector, the method further includes:
And verifying the distance information determined by the detection angle and the detection width based on the estimated distance.
As a possible embodiment of the present application, the method further comprises:
And storing disturbance information of the measuring environment to the pulse laser and temperature information of the measuring environment in a correlated mode so as to compensate the rotation angular velocity of the rotating device according to real-time temperature information in the process that the target detector at the position to be measured detects the pulse laser.
In a third aspect, embodiments of the present application also provide a computer device comprising a processor and a memory, the memory storing a plurality of instructions, the processor loading instructions from the memory to perform the steps of rotating laser scan based coordinate measurement as described above.
In a fourth aspect, embodiments of the present application also provide a computer readable storage medium storing a plurality of instructions adapted to be loaded by a processor to perform the steps of rotating laser scan based coordinate measurement as described above.
In a fifth aspect, embodiments of the present application also provide a computer program product comprising a computer program for performing the steps of coordinate measurement based on a rotating laser scan as described above by a processor.
The application provides a coordinate measuring system based on rotary laser scanning, which comprises a pulse light source for emitting pulse laser at fixed time intervals, a rotating device provided with a reflecting component for reflecting the pulse laser to different directions in the rotating process, and a plurality of photoelectric detectors, wherein at least one of the photoelectric detectors is used for determining disturbance information of a measuring environment on the pulse laser according to the received pulse laser so as to perform feedback adjustment on the rotation angular velocity of the rotating device to compensate the disturbance, and the other detector at a position to be measured in the photoelectric detector accurately measures the coordinate information of the photoelectric detector relative to the rotating device based on the pulse laser after compensation and correction. According to the coordinate measuring system and method provided by the application, on the premise of no carrying of a complex light path, the interference of the environment on the light path can be compensated by introducing a plurality of photoelectric detectors, so that the measuring precision of coordinate information is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1a is a schematic diagram of the calibration relationship between the refractive index and the temperature obtained by experimental measurement;
FIG. 1b is a graph showing the effect of the deviation of the exit angle at different angles of incidence;
FIG. 2 is a schematic diagram of a system structure of a coordinate measurement system based on rotary laser scanning according to an embodiment of the present application;
FIG. 3 is a flowchart illustrating a coordinate measuring method according to an embodiment of the present application;
FIG. 4 is a schematic diagram showing the effect of determining distance information of a target detector relative to a rotating device according to an embodiment of the present application;
FIG. 5 is a flowchart illustrating a process for determining a disturbance according to a second pulse according to an embodiment of the present application;
FIG. 6a is a flowchart illustrating a step of estimating a distance for verification according to an embodiment of the present application;
FIG. 6b is a schematic diagram showing an effect of estimating a distance based on a reference detector according to an embodiment of the present application;
FIG. 7 is a flowchart illustrating a step of determining coordinate information of a position to be measured according to an embodiment of the present application;
Fig. 8 is a schematic structural diagram of a computer device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to fall within the scope of the application. Meanwhile, in the description of the embodiments of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more features. In the description of the embodiments of the present application, the meaning of "plurality" is two or more, unless explicitly defined otherwise.
In order to better understand the coordinate measuring system and method based on the rotary laser scanning provided by the application, a specific description is given of the relevant application background of the coordinate measurement. In particular, coordinate measurements, especially in industrial environments, tend to have high accuracy in coordinate measurements, which typically determine the accuracy of the measurements in the industrial field. Among them, laser measurement has become the first choice for coordinate measurement due to its relatively superior measurement accuracy and real-time, for example, laser tracker, indoor positioning (iGPS), workshop measurement positioning system (wMPS), etc. are more common. In order to further improve the measurement accuracy of the coordinates, in some schemes, the laser may choose to use a high-accuracy femtosecond optical comb, that is, a pulsed light with a pulse interval in the femtosecond level, that is, an ultrashort pulse with a time width in the femtosecond level appears in the time domain, and a monochromatic spectral line with an equal frequency interval, a fixed position and an extremely wide spectral range appears in the frequency domain, so as to obtain an optical frequency clock reference with higher accuracy.
However, in practical applications, it is found that under specific industrial environments, such as specific temperature and humidity, or non-uniform air density, or particle density, these environments may interfere with light propagation, such as affecting refractive index, so that the laser pulses emitted uniformly may no longer be uniform at the measured object, and the accuracy of the measured data may be less than ideal. Specifically, to facilitate understanding of the above, the refractive index and Temperature are calibrated in a near geographical space where the wavelength λ=650 nm of light is measured at a standard atmospheric pressure (1 atm, p=101325 Pa) and a water vapor pressure of 0 (rh=0), and the relationship between the refractive index (Refraction, unit: ppm) and the Temperature (Temperature, unit: °c) is shown in fig. 1a. Further, by deriving the fitted temperature field through the above relation after obtaining the fitted temperature field during the experiment, and then tracing the light propagation, wherein the light propagation track can be determined by using the fermat principle, that is, the light propagation along the required path is smooth, that is, the first derivative of the path propagation is understood to be zero, and by solving the differential equation of the path propagation by using the ringer's tower method, and by tracking the motion track of the light in the temperature field, the deviation between the actual exit angle and the ideal angle under different incident angles can be further determined, specifically, referring to fig. 1b, for the angle deviation (Angledeviation, in seconds ") of the exit angle, that is, the deviation of the exit angle usually reaches several tens of arc seconds, taking the temperature as an example, it is necessary to compensate the environmental interference caused by the measurement of the light path.
In the application background of the coordinate measurement provided by the application, compared with the method for constructing an additional complex light path to compensate, the coordinate measurement system and the method based on the rotating laser scanning are provided, and the interference of the environment on the light path is compensated by introducing a plurality of photoelectric detectors, so that the measurement precision of the coordinate information is improved. Specifically, for easy understanding of the foregoing, please refer to fig. 2, fig. 2 is a schematic system structure diagram of a coordinate measuring system based on rotary laser scanning according to an embodiment of the present application, which is described in detail below.
Specifically, a coordinate measurement system generally includes:
a pulse light source 201, wherein the pulse light source 201 is configured to emit pulse laser light at fixed time intervals;
a rotating device 202, wherein a reflecting component 203 is arranged on the rotating device 202, and the rotating device 202 enables the reflecting component 203 to reflect the pulse laser to different directions in the rotating process;
a plurality of photodetectors 204, wherein the plurality of photodetectors 204 comprises at least one target detector 2041 at a position to be measured and at least one reference detector 2042 at a preset position;
The reference detector 2042 is configured to determine disturbance information of the pulsed laser by a measurement environment based on the received pulsed laser, so as to compensate a rotational angular velocity of the rotating device 202 according to the disturbance information;
The target detector 2041 is used for determining coordinate information of the position to be measured relative to the rotating device based on the received pulse laser, and particularly, the coordinate value of the position of the target detector 2041 relative to the coordinate origin of the rotating device is determined, that is, the position to be measured of the target detector 2041 in the measuring environment is set, and the rotating device 202 is set in the reference environment in the measuring environment, so that coordinate measurement in the measuring environment is realized.
In an alternative implementation, the pulsed light source 201 may be a mode-locked laser source, where the pulsed laser light emitted by the pulsed light source 201 is a femtosecond optical frequency comb, that is, pulsed light with a pulse interval in the femtosecond level. In particular, in the process of using a high-precision pulse light source, namely a mode-locked laser source to realize distance measurement, the interference compensation of the ambient light on laser propagation is particularly important.
Further, in an alternative implementation, the rotation device 202 is a motor-based device that controls rotation, for example, the rotation device may be a turntable.
Further, in an alternative implementation, the light reflecting component 203 may be a mirror component, such as a mirror group or a prism group, or the like. In particular, the reflecting component 203 is generally disposed at the central axis of the rotating device 202, so as to reflect the pulsed laser light to different directions uniformly along with the rotation of the rotating device.
Further, in an alternative implementation, the reflecting component 203 reflects the pulsed laser light to different directions within the same plane, and the target detector and the reference detector are both within the reflection plane.
Furthermore, the coordinate measuring system may further include a plurality of different rotating devices or light reflecting components to reflect the pulse laser to different planes in the three-dimensional space, where the different planes may be provided with photodetectors, so as to more accurately implement measurement and calculation of coordinates of the position to be measured in the three-dimensional space.
Further, in an alternative implementation, the photodetector may convert the received pulsed laser light into an electrical signal, so as to better count the received pulsed laser light, and implement coordinate measurement.
Further, in an alternative implementation, the reference detector and the target detector may use the same type of photo detector to ensure that the detection widths of the received optical signals are the same, and of course, the reference detector and the target detector may use different types of photo detectors, that is, the detection widths of the received optical signals are not limited in detail by the present application. In addition, the present application is not limited to the position of the reference detector relative to the rotating device, but in order to compensate the interference of the environment on the light path propagation as accurately as possible, the position of the reference detector relative to the rotating device is usually required to be a known calibration value, that is, in the coordinate measuring system provided by the present application, the reference detector and the rotating device can be relatively fixed.
Furthermore, the above-mentioned schematic structural diagram of the coordinate measuring system is merely a possible implementation, and is not meant to limit the coordinate measuring system provided by the present application, for example, in one or more embodiments, the coordinate measuring system may further include other more components, for example, the coordinate measuring system may further include more light reflecting components to build up a more complex light path, and the coordinate measuring system may further include a controller to implement control over the entire coordinate measuring system. For example, the controller may be a host computer or other digital or analog computing device in the form of computer software or dedicated hardware, a single chip microcomputer, etc., and the application is not limited thereto.
The application provides a coordinate measuring system based on rotary laser scanning, which comprises a pulse light source for emitting pulse laser at fixed time intervals, a rotating device provided with a reflecting component for reflecting the pulse laser to different directions in the rotating process, and a plurality of photoelectric detectors, wherein at least one of the photoelectric detectors is used for determining disturbance information of a measuring environment on the pulse laser according to the received pulse laser so as to perform feedback adjustment on the rotation angular velocity of the rotating device to compensate the disturbance, and the other detector at a position to be measured in the photoelectric detector accurately measures the coordinate information of the photoelectric detector relative to the rotating device based on the pulse laser after compensation and correction. According to the coordinate measuring system provided by the application, on the premise of not carrying a complex light path, the interference of the environment on the light path can be compensated by introducing a plurality of photoelectric detectors, so that the measuring precision of the coordinate information is improved.
On the basis of the coordinate measuring system based on the rotation laser scanning, the following will further describe the coordinate measuring method based on the rotation laser scanning. Detailed description is as follows.
As shown in fig. 3, fig. 3 is a schematic step flow diagram of a coordinate measurement method according to an embodiment of the present application, and specifically includes steps S310 to S330:
S310, collecting first pulse quantity of pulse laser emitted by a pulse light source and detected by a target detector in a preset period, and first pulse time.
In the embodiment of the present application, taking the distance measurement system provided in fig. 2as an example, it can be understood that, during the rotation of the rotating device at a certain angular velocity, only when the light reflecting component reflects the pulse laser light to the direction within a certain range of the target detector, the target detector can detect the pulse laser light emitted by the pulse light source, where the preset period can be generally understood as a period of one rotation of the rotating device.
In addition, besides the first pulse number, the first pulse time of the pulse laser received by the target detector can be acquired, so that the offset angle of the position of the target detector can be determined by comparing the first pulse time with the reference pulse time.
S320, determining coordinate information of the position to be detected, where the target detector is located, relative to the rotating device based on the first pulse number and the first pulse time.
In the embodiment of the present application, as can be seen from the foregoing related description, the first pulse number may be used to describe the distance information of the position of the target detector relative to the rotating device, and the first pulse time may be used to assist in describing the coordinate information of the position of the target detector relative to a certain reference direction of the rotating device, so that the coordinate information of the position to be measured relative to the rotating device can be determined based on the two information.
Further, determining coordinate information of the position to be measured where the target detector is located relative to the rotating device based on the first pulse number and the first pulse time includes:
Determining distance information of a position to be detected, where the target detector is located, relative to the rotating device based on the first pulse number, the preset angular speed of the rotating device, the preset pulse period of the pulse light source and the detection width of the target detector;
Determining angle information of a position to be detected, where the target detector is located, relative to a reference direction based on time interval information of the first pulse time relative to a preset reference time and a preset angular speed of the rotating device, wherein the preset reference time is time information when the light reflecting component reflects pulse laser to the preset reference direction;
and determining coordinate information of the position to be detected, where the target detector is located, relative to the rotating device according to the distance information and the angle information.
In this embodiment, by collecting the first pulse number of the pulse laser emitted by the pulse light source detected by the target detector in the preset period and combining other preset information, for example, the preset angular velocity of the rotating device and the preset pulse period of the pulse light source, the detection angle of the detection width of the target detector relative to the rotating device can be determined, and the distance information of the position to be detected, where the target detector is located, relative to the rotating device can be further determined by combining the detection width of the target detector.
Specifically, the determining distance information of the position to be measured where the target detector is located relative to the rotating device based on the first pulse number, the preset angular velocity of the rotating device, the preset pulse period of the pulse light source, and the detection width of the target detector includes:
determining a scanning angle of the target detector relative to the rotating device based on the first pulse number, a preset angular velocity of the rotating device, and a preset pulse period of a pulse light source;
And determining the distance information of the position to be detected, where the target detector is located, relative to the rotating device according to the scanning angle and the detection width of the target detector.
Specifically, in order to facilitate understanding of the foregoing, referring to fig. 4, fig. 4 is a schematic diagram illustrating an effect of determining distance information of a target detector relative to a rotating device according to an embodiment of the present application.
Taking N 1 as the first pulse number, ω as the preset angular velocity of the rotating device, Δt as the preset pulse period of the pulse light source as an example, at this time, the calculation formula of the detection angle θ specifically includes:
θ=N1ωΔt
On this basis, as can be seen in conjunction with fig. 4, a specific calculation formula for determining the distance information d of the position to be measured relative to the rotating device based on the detection angle θ and the detection width a of the target detector is as follows:
d=a/2tan(θ/2)。
However, it should be noted that, in the case where the position to be measured is far from the rotating device, that is, d > > a, the detection angle θ is relatively small, and therefore, tan (θ/2) may be approximately equal to θ/2, so that the calculation is further simplified, and d=a/θ.
S330, collecting second pulse quantity of the pulse laser detected by the reference detector in a preset period, determining disturbance information of the measuring environment on the pulse laser according to the second pulse quantity, and compensating the rotation angular velocity of the rotating device according to the disturbance information.
As can be seen from the foregoing related description, the light propagation is disturbed due to the interference of the environment, that is, the laser pulses emitted from the rotating device uniformly are not uniform at the target detector, that is, the laser pulses actually perceived by the target detector have a certain deviation, so in order to compensate the deviation, in the embodiment of the present application, the disturbance information of the measuring environment on the pulse laser can be determined based on the second pulse number of the pulse laser detected by the calibrated reference detector, so that the rotation angular velocity of the rotating device is properly compensated by reasonably using the disturbance information. The specific principle is detailed as follows:
It will be appreciated that taking the frequency of the laser pulses as f (HZ) and the angular velocity of the rotating device as ω (rad/s) as an example, the resolution of the angle measurement by the complete system can be understood as the pitch angle of the adjacently emitted pulses, i.e. f/ω, whereas the femtosecond pulse frequency of the pulsed light source can be locked to the atomic clock, i.e. traceable to the time reference. The accuracy of the distance measurement provided by the present application is therefore dependent on the accuracy of the pitch angle of the pulses. In the ideal case, the femtosecond pulse uniformly emitted from the turntable can be uniformly emitted to the vicinity of the position to be measured, but in the actual case, the pulse uniformly emitted from the turntable is not uniform at the position to be measured due to the interference of the environment, so that the full-closed loop feedback can be introduced to measure the actual pulse rotation speed, and feeding back to control the rotation angular velocity of the motor to compensate, namely determining disturbance information of the measuring environment on the pulse laser according to the second pulse quantity, and compensating the rotation angular velocity of the rotating device according to the disturbance information.
Specifically, referring to fig. 5, fig. 5 is a schematic flow chart of a step of determining disturbance according to a second pulse according to an embodiment of the present application, and specifically includes steps S510 to S520:
s510, determining the real-time angular velocity of the rotating device based on the preset distance of the reference detector relative to the rotating device, the detection width of the reference detector and the second pulse number.
In the embodiment of the present application, as can be seen from the foregoing related description, the distance between the reference detector and the rotating device may be a preset value calibrated in advance, and then the real-time angular velocity ω 1 of the rotating device may be determined based on the preset distance between the reference detector and the rotating device, the detection width of the reference detector, and the number of the received second pulses.
Specifically, it may be understood that, based on the distance between the reference detector and the rotating device and the detection width of the reference detector, the detection angle θ 1 of the reference detector relative to the rotating device may be determined, so that the calculation formulas of the provided detection angle, the pulse number, the angular velocity and the pulse period are further combined to determine the real-time angular velocity ω 1 of the laser emitted by the rotating device after being interfered by the environment, and specifically, the calculation formula of the real-time angular velocity ω 1 specifically includes:
ω1＝θ1/N2Δt
Wherein θ 1 is the detection angle of the reference detector relative to the rotating device, N 2 is the second pulse number, and Δt is the preset pulse period of the pulse light source.
S520, according to the difference value between the real-time angular velocity and the preset angular velocity, disturbance information of the measuring environment on the pulse laser is determined.
In the embodiment of the application, by calculating the difference between the real-time angular velocity omega 1 and the preset angular velocity omega, the error of the laser scanning angular velocity generated by the laser actually emitted by the rotating device at the position to be measured due to environmental interference can be fitted to a certain extent, namely the difference can reflect the disturbance information of the measuring environment to the pulse laser to a certain extent, so that the angular velocity error caused by the environmental interference can be compensated by correcting the angular velocity of the rotating device to a certain extent.
Specifically, to further understand the above, the following description will be made by means of a mathematical model, and the angular velocity of the rotating device may be corrected to a certain degree so as to keep the laser scanning angular velocity stable. Detailed description is as follows.
First, the above-described process of correcting the angular velocity of the rotating device can be described using the following iterative formula:
xk+1＝(En-Rac HRre)xk
Where x k is the angular velocity error between the real-time angular velocity determined after the kth correction and the preset angular velocity, and x k+1 is the angular velocity error between the real-time angular velocity determined after the kth+1th correction and the preset angular velocity, where R re is the adjustment matrix for the actual angular velocity during the kth+1th correction, R ac represents the precise relationship between the real-time angular velocity and the preset angular velocity, and in general, the measured angular velocity sequences are considered to be a one-dimensional array, and thus R re and R ac are usually diagonal matrices. Wherein:
Wherein k 1′～kn' is the actual adjustment factor of the non-uniform rotation speed in each correction process, and k 1～kn is the accurate adjustment factor of the non-uniform rotation speed in each correction process, so that it can be determined that:
taking norms from two sides of the opposite equation to obtain
Where e in the equation represents the relative accuracy level of the speed control, and only e.ltoreq.1 is required in order to maintain convergence of the result. That is, in the above-described process of correcting the angular velocity of the rotating device, the actual angular velocity of the laser scanning can be stably converged to the desired angular velocity, that is, the preset angular velocity after the environmental disturbance is compensated.
In addition, in a further alternative implementation scheme provided by the present application, the reference detector may be used to compensate disturbance information of the pulsed laser by the measuring environment, so as to compensate a rotation angular velocity of the rotating device according to the disturbance information, and further estimate a distance between a position of the target detector and the rotating device based on a known calibration distance between the reference detector and the rotating device, particularly, in a case where the target detector and the reference detector use the same photo-detector model, that is, a detection width is equal to a detection width of the reference detector, please refer to fig. 6a, and fig. 6a is a schematic flowchart showing a step of estimating the distance for verification according to the embodiment of the present application, specifically, the method includes steps S610 to S620:
S610, determining the estimated distance of the target detector relative to the rotating device based on the preset distance, the first pulse number and the second pulse number.
In the embodiment of the present application, when the distance between the reference detector and the rotating device is a known calibration, the estimated distance between the target detector and the rotating device may be determined based on the first pulse number and the second pulse number, and specifically, the foregoing distance calculation formula is taken as an example:
It can be seen that, in the case where the detection width a is the same, the angular velocity of the rotating device remains unchanged and the period of the pulse laser remains unchanged, the distance is generally inversely proportional to the number of pulses, and in particular, referring to fig. 6b, it can be seen that taking PD1 as the target detector and PD2 as the reference detector, at this time, the ratio of the distance from the target detector to the central axis of the rotating device to the distance from the reference detector to the central axis of the rotating device is inversely related to the number of pulses received by the target detector and the reference detector, that is
Wherein d 1 is the distance from the target detector to the central axis of the rotating device, d 2 is the distance from the reference detector to the central axis of the rotating device, N1 and N2 are the first pulse number and the second pulse number detected by the target detector and the reference detector, respectively, and by calculating the measurement resolution of the distance, it can be determined that:
substituting corresponding values under the actual measurement environment can determine that the measurement resolution is about micrometers, and can be used for checking the measurement result to a certain extent.
And S620, checking the distance information determined by the detection angle and the detection width based on the estimated distance.
In the embodiment of the application, as can be seen from the above description, the estimated distance determined based on the reference detector has a micrometer-level error, but can be used for auxiliary verification of distance information determined by the detection angle and the detection width. That is, by comparing the difference between the estimated distance and the distance information determined by the detection angle and the detection width, when the estimated distance and the distance information differ greatly, it can be considered that an abnormal fault may exist in the measurement system.
Specifically, in the embodiment of the present application, the measured coordinate information is exemplified by two-dimensional coordinates in a two-dimensional plane space, that is, the plane of the laser reflected by the reflecting component on the rotating device is exemplified as the measurement position, and for the coordinates in the three-dimensional space, the coordinates can be further realized by introducing a plurality of reflected laser planes.
Specifically, referring to fig. 7, fig. 7 is a flowchart illustrating a step of determining coordinate information of a position to be measured according to an embodiment of the present application, which is described in detail below.
S710, collecting time interval information of the pulse laser emitted by the pulse light source relative to a preset reference moment when the target detector detects the pulse laser.
In the embodiment of the present application, the preset reference time is time information when the light reflecting component reflects the pulse laser to a preset reference direction, where the preset reference direction may be understood as a fixed direction determined by the rotating device in a rotating process, and the direction may be generally understood as a direction of a coordinate axis under a space coordinate system set up by using the rotating device as an origin, and may also be used as a common feasible implementation scheme, and a reference detector or a defense line where other detectors are located may also be used as a reference direction.
S720, determining an offset angle of the target detector relative to the preset reference direction based on the time interval information and the preset angular speed of the rotating device.
In the embodiment of the application, it can be understood that the rotation angle of the target detector relative to the reference direction can be calculated by combining the time interval information of the target detector when the pulse laser emitted by the pulse light source is detected relative to the preset reference time.
And S730, determining coordinate information of the position to be measured relative to the rotating device based on the offset angle and the distance information.
In the embodiment of the application, on the basis of determining the offset angle and the distance information, the coordinate information of the position to be measured relative to the rotating device can be determined through further calculation, and in particular, the embodiment of the application is illustrated by taking two-dimensional coordinate information as an example, but the coordinate detection under the three-dimensional space coordinate system can be realized by the coordinate measurement system provided by the application without limitation.
In addition, it should be noted that, in the process of distance measurement, the error of the scanning angular velocity at the position to be measured caused by the environmental disturbance is compensated by the reference detector, so that in the process of further determining the offset angle, the error possibly existing in the offset angle can be effectively compensated, that is, in the process of measuring the coordinate information provided by the embodiment of the application, the distance and the offset angle are compensated by the unified measurement error.
In addition, the highest interference degree of the temperature in the environment to the laser scanning angle at the position to be measured is considered to be measured through experiments, so that as another feasible implementation scheme of the application, disturbance information of the measuring environment to the pulse laser can be stored in association with the temperature information of the measuring environment, and the rotation angular velocity of the rotating device can be conveniently compensated directly according to the real-time temperature information in the subsequent distance measuring process.
The embodiment provides a coordinate measuring method based on rotary laser scanning, which comprises a pulse light source for emitting pulse laser at fixed time intervals, a rotary device provided with a reflecting component for reflecting the pulse laser to different directions in the rotating process, and a plurality of photodetectors, wherein at least one of the photodetectors is used for determining disturbance information of a measuring environment on the pulse laser according to the received pulse laser so as to perform feedback adjustment on the rotation angular velocity of the rotary device to compensate the disturbance, and therefore the other detector at the position to be measured in the photodetectors accurately measures the coordinate information of the other detector relative to the rotary device based on the pulse laser after compensation correction. According to the coordinate measuring method provided by the application, on the premise of not carrying a complex light path, the interference of the environment on the light path can be compensated by introducing a plurality of photoelectric detectors, so that the measuring precision of the coordinate information is improved.
In an embodiment, the present application further provides a computer device, where the computer device is taken as an example of a terminal device, and an internal structure diagram of the computer device may be shown in fig. 8. The computer device includes a processor, a memory, an input/output interface, a communication interface, a display unit, and an input means. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a coordinate measurement method of rotating laser scanning. The display unit of the computer equipment is used for forming a visual picture, and can be a display screen, a projection device or a virtual reality imaging device, wherein the display screen can be a liquid crystal display screen or an electronic ink display screen, the input device of the computer equipment can be a touch layer covered on the display screen, can also be a key, a track ball or a touch pad arranged on a shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the architecture shown in fig. 8 is a block diagram of only some of the structures associated with the present inventive arrangements and is not limiting as to the computer device to which the present inventive arrangements may be implemented, as a particular computer device may include more or less components than those shown, or may be combined with some of the components, or have a different arrangement of components.
Based on the same inventive concept, the embodiments of the present application also provide a computer-readable storage medium, which may include a Read Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, an optical disk, or the like.
Because the computer program stored in the computer readable storage medium can execute any of the coordinate measuring methods based on the rotation laser scanning provided by the embodiments of the present application, the beneficial effects that any of the coordinate measuring methods based on the rotation laser scanning provided by the embodiments of the present application can be achieved, which are detailed in the previous embodiments and are not described herein.
The application provides a coordinate measuring system based on rotary laser scanning, which comprises a pulse light source for emitting pulse laser at fixed time intervals, a rotating device provided with a reflecting component for reflecting the pulse laser to different directions in the rotating process, and a plurality of photoelectric detectors, wherein at least one of the photoelectric detectors is used for determining disturbance information of a measuring environment on the pulse laser according to the received pulse laser so as to perform feedback adjustment on the rotation angular velocity of the rotating device to compensate the disturbance, and the other detector at a position to be measured in the photoelectric detector accurately measures the coordinate information of the photoelectric detector relative to the rotating device based on the pulse laser after compensation and correction. According to the coordinate measuring system and method provided by the application, on the premise of no carrying of a complex light path, the interference of the environment on the light path can be compensated by introducing a plurality of photoelectric detectors, so that the measuring precision of coordinate information is improved.
Based on the same inventive concept, embodiments of the present application also provide a computer program product or a computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the methods provided in the various alternative implementations of the above embodiments.
It should be noted that, the object data (including but not limited to user equipment information, user personal information, etc.) and dialogue data related to the present application are information and data authorized by the user or fully authorized by each party, and the collection, use and processing of the related data need to comply with the related laws and regulations and standards of the related country and region. Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above.
Any reference to memory, database, or other medium used in embodiments provided herein can include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive Memory (Re RAM), magneto-resistive Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (PHASE CHANGE Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in various forms such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc.
The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, or the like, but is not limited thereto.
In the embodiments of the computer device, the computer readable storage medium, and the computer program product, the descriptions of the embodiments are emphasized, and for part of this detailed description, reference is made to the related descriptions of other embodiments. It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process and the beneficial effects of the above described computer readable storage medium, computer program product, computer apparatus and corresponding units may be referred to the description of the distance measuring method based on the rotating laser scanning in the above embodiments, which is not described in detail herein.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above description of the coordinate measuring system, method and computer device based on rotary laser scanning provided in the embodiments of the present application has been provided in detail, and specific examples are provided herein to illustrate the principles and embodiments of the present application, and the above description of the embodiments is only for aiding in understanding the method and core concept of the present application, and meanwhile, for those skilled in the art, according to the concept of the present application, there are variations in the specific embodiments and application ranges, so the disclosure should not be interpreted as limiting the application.
Claims (10)
1. A coordinate measurement system based on rotational laser scanning, the coordinate measurement system comprising:
A pulse light source for emitting pulse laser light at fixed time intervals;
the rotating device is provided with a reflecting component, and the rotating device enables the reflecting component to reflect the pulse laser to different directions in the rotating process;
the system comprises a plurality of photoelectric detectors, a plurality of detection units and a detection unit, wherein the plurality of photoelectric detectors comprise at least one target detector at a position to be detected and at least one reference detector at a preset position;
The reference detector is used for determining disturbance information of a measuring environment to the pulse laser based on the received pulse laser so as to compensate the rotation angular velocity of the rotating device according to the disturbance information, and
The target detector is used for determining coordinate information of the position to be detected relative to the rotating device based on the received pulse laser.
2. The system of claim 1, wherein the pulsed light source is a mode-locked laser source and the pulsed laser is a femtosecond optical frequency comb.
3. A coordinate measurement method based on a rotating laser scan, characterized in that the method performs coordinate measurement based on a coordinate measurement system as claimed in claim 1 or 2, the method comprising the steps of:
Collecting first pulse quantity and first pulse time of pulse laser emitted by a pulse light source detected by a target detector in a preset period;
determining coordinate information of a position to be detected, where the target detector is located, relative to a rotating device based on the first pulse number and the first pulse time;
The method further comprises the steps of:
And acquiring a second pulse number of the pulse laser detected by the reference detector in a preset period, determining disturbance information of the measuring environment on the pulse laser according to the second pulse number, and compensating the rotation angular velocity of the rotating device according to the disturbance information.
4. A method according to claim 3, wherein said determining the coordinate information of the position to be measured where the target detector is located relative to the rotating device based on the first pulse number and the first pulse time comprises:
determining distance information of a position to be detected, where the target detector is located, relative to the rotating device based on the first pulse number, the preset angular speed of the rotating device, the preset pulse period of the pulse light source and the detection width of the target detector;
Determining angle information of a position to be detected, where the target detector is located, relative to a reference direction based on time interval information of the first pulse time relative to a preset reference time and a preset angular speed of the rotating device, wherein the preset reference time is time information when the light reflecting component reflects pulse laser to the preset reference direction;
and determining coordinate information of the position to be detected, where the target detector is located, relative to the rotating device according to the distance information and the angle information.
5. A method according to claim 3, wherein said determining distance information of the position to be measured, where the target detector is located, with respect to the rotating device based on the first number of pulses, a preset angular velocity of the rotating device, a preset pulse period of the pulsed light source, and a detection width of the target detector comprises:
determining a scanning angle of the target detector relative to the rotating device based on the first pulse number, a preset angular velocity of the rotating device, and a preset pulse period of a pulse light source;
And determining the distance information of the position to be detected, where the target detector is located, relative to the rotating device according to the scanning angle and the detection width of the target detector.
6. The method according to claim 5, wherein the distance information d of the position to be measured relative to the rotating means is determined by the following formula:
d=2a/tan(θ/2);
wherein a is the detection width of the target detector, θ is the detection angle of the target detector relative to the rotating device, and the calculation formula of the detection angle θ is as follows:
θ=N1ωΔt;
Wherein N 1 is the first pulse number, ω is the preset angular velocity of the rotating device, and Δt is the preset pulse period of the pulse light source.
7. The method of claim 4, wherein determining disturbance information of the pulsed laser by the measurement environment based on the second number of pulses comprises:
Determining a real-time angular velocity of the rotating device based on a preset distance of a reference detector relative to the rotating device, a detection width of the reference detector, and the second pulse number;
and determining disturbance information of the measuring environment on the pulse laser according to the difference value of the real-time angular velocity and the preset angular velocity.
8. The method according to claim 7, wherein in the case where the detection width of the target detector and the detection width of the reference detector are equal, the method further comprises:
determining an estimated distance of the target detector relative to the rotating device based on the preset distance, the first pulse number and the second pulse number;
after determining the distance information of the position to be measured, where the target detector is located, relative to the rotating device according to the detection angle and the detection width of the target detector, the method further includes:
And verifying the distance information determined by the detection angle and the detection width based on the estimated distance.
9. A method according to claim 3, characterized in that the method further comprises:
And storing disturbance information of the measuring environment to the pulse laser and temperature information of the measuring environment in a correlated mode so as to compensate the rotation angular velocity of the rotating device according to real-time temperature information in the process that the target detector at the position to be measured detects the pulse laser.
10. A computer device comprising a processor and a memory, the memory storing a plurality of instructions, the processor loading instructions from the memory to perform the steps of the rotational laser scan based coordinate measurement method of any one of claims 3 to 9.
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