CN105783942A - Automatic detection and measurement method for self posture position of line laser device - Google Patents
Automatic detection and measurement method for self posture position of line laser device Download PDFInfo
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- CN105783942A CN105783942A CN201610109428.9A CN201610109428A CN105783942A CN 105783942 A CN105783942 A CN 105783942A CN 201610109428 A CN201610109428 A CN 201610109428A CN 105783942 A CN105783942 A CN 105783942A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
The invention is suitable for the technical field of laser measurement, and provides an automatic detection and measurement method for the self posture position of a line laser device.The method comprises the steps that an isosceles trapezoid calibration pile is placed in a scanning area of the line laser device, the line laser device scans the calibration pile when the line laser device is calibrated, and calibration pile scanning data obtained by the line laser device is recorded as a standard value; the line laser device scans and records data of the calibration pile in real time in the practical using process, the data is compared with the standard value of the calibration pile data scanned and recorded in the calibration process, and then the self posture position of the line laser device is monitored.The calibration pile is placed in the scanning area of the line laser device, the calibration pile data scanned and measured in the calibration process of the line laser device is recorded as the reference data, real-time monitoring on the self posture position of the laser device is achieved through real-time scanning and monitoring in the practical using process, the data is compared with the reference data, and then real-time monitoring and automatic detection and measurement on the self posture position of the line laser device are achieved.
Description
Technical field
The invention belongs to laser measuring technique field, particularly relate to a kind of self posture position of line laser device and automatically detect measuring method.
Background technology
The contradictions relevant with railway traffic safety such as current railway construction rapidly increases, rolling stock project update, reform of the railway management system innovation, directly affecting the construction of harmonious railway system and ensure the development of national economy normal table, its safety guarantee problem is extremely urgent.In railway construction and operation stage, the safe driving of existing line is constituted great threat by the foreign body of fouling of clearance gauge.
China railways is distributed more widely, and each regional geography natural environment and climate condition difference is relatively big, adopts the laser scanner that volume is little, lightweight, resolution is high, capacity of resisting disturbance is strong that target area is monitored in order to meet round-the-clock monitor in real time requirement.But after laser aid field calibration, the vibrations accumulated over a long period in actual environment and other inevitable factor impacts on laser aid attitude and position, and laser aid posture position change can directly influence the precision of laser measurement data, can cause that mistake is occurred in the analysis of laser data, badly influence stability and the reliability of system.
Summary of the invention
The purpose of the embodiment of the present invention is in that to provide a kind of self posture position of line laser device automatically to detect measuring method, at least can overcome the segmental defect of prior art.
A kind of self posture position of line laser device that the present embodiments relate to detects measuring method automatically, including: step 1, in the scanning area of described line laser device, place isosceles trapezoid demarcate stake, during described line laser device normalization, line laser device scans described demarcation stake, records the data of described demarcation stake as standard value；
Step 2, demarcates the data of stake described in line laser device real time scan record described in actual use procedure, compare with the standard value of the described demarcation stake of record in calibration process, monitor described self posture position of line laser device.
A kind of self posture position of line laser device related to as embodiment detects measuring method automatically, described step 1 and measure in described step 2 and the data of described demarcation stake that compare include the width of described demarcation stake；
The angle change θ obtaining line laser device vertical direction by measuring the difference of the width of described demarcation stake is:
Wherein, the width of the described demarcation stake of scanning when d is described line laser device normalization, D is the width of the described demarcation stake of scanning in monitoring process in real time, and R is the distance of described demarcation stake and line laser device.
Positive and negative and the size of the angle change θ according to described line laser device vertical direction judges the direction that described self posture position of line laser device changes:
Represent during θ > 0 that described line laser device is downward-sloping, during θ < 0, represent that described line laser device is inclined upwardly, during θ=0, represent that described line laser device pitch attitude does not change.
The data of the described demarcation stake measured in described step 1 and described step 2 and compare include: demarcate initial point position and the relative distance of stake；
Judge that described line laser device changes ρ around its rotational angle being perpendicular on the axial direction on ground and is according to described initial point position:
ρ=alpha-beta；
α demarcates stake to initiate polar polar angle value described in real-time monitoring process, β is that the described demarcation stake measured in calibration process initiates polar polar angle value；
Judge the change s of the displacement produced on the relative described demarcation stake direction of described line laser device with the relative distance of described demarcation stake according to described line laser device.
Judge, around the positive and negative and size of its rotational angle change ρ being perpendicular on the axial direction on ground, the direction that described self posture position of line laser device changes according to described line laser device:
Illustrate during described ρ > 0 that described line laser device is perpendicular on the axial direction on ground around it and creates clockwise rotation, illustrate during ρ < 0 that described line laser device is perpendicular on the axial direction on ground around it and creates rotation counterclockwise, during ρ=0, illustrate that described line laser device is perpendicular on the axial direction on ground around it and does not produce to rotate.
The range of error of θ, ρ and s is set according to actual environment demand；
When in described step 2, calculating obtains the described range of error that θ, ρ and s exceed correspondence, confirm that change occurs in described line laser device posture position, indication wire laser aid attitude is abnormal, and the attitude of described line laser device is adjusted by staff according to the positive and negative size of θ, ρ and s.
Described step 1 and described step 2 obtain in the process of data of described demarcation stake, also include the Filtering Processing to laser measurement data: by the distance difference of adjacent 2, frame data carried out segmentation, and respectively the data of each section are filtered operation.
The monitoring process of described step 2 also includes: obtain device temperature data in real time, according to the measurement error of laser aid and temperature equation, eliminate the measurement error caused because of variations in temperature.
The beneficial effect that a kind of self posture position of line laser device that the embodiment of the present invention provides detects measuring method automatically includes:
A kind of self posture position of line laser device that the embodiment of the present invention provides detects measuring method automatically, stake is demarcated by placing in the scanning area of online laser aid, the demarcation stake data measured in call wire laser aid calibration process are as reference data, real time scan monitoring in actual use realizes the monitor in real time to laser aid self posture position, compare with reference data, realize the monitor in real time to self posture position of line laser device and automatically detect measurement, reduce maintenance cost when system is run, decrease laser aid posture position and change the error data analysis caused, improve the Stability and adaptability that system is run.
Filtering Processing to laser measurement data, eliminates the jump impact on overall data, improves the precision that background data is demarcated.
Increase temperature monitoring system, obtain device temperature data in real time, according to the measurement error of laser aid and temperature equation, eliminate the measurement error caused because of variations in temperature.Ensure the stability of systematic error.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme in the embodiment of the present invention, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the structural representation of a kind of embodiment demarcating stake provided by the invention；
Fig. 2 is the related data instruction figure demarcating stake that the embodiment of the present invention provides；
Fig. 3 is the flow chart that a kind of self posture position of line laser device that the embodiment of the present invention provides detects measuring method automatically.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain the present invention, is not intended to limit the present invention.
In order to technical solutions according to the invention are described, illustrate below by specific embodiment.
A kind of self posture position of line laser device provided by the invention automatically detects measuring method and comprises the following steps:
Step 1, places isosceles trapezoid and demarcates stake in the scanning area of online laser aid, during line laser device normalization, stake is demarcated in the scanning of line laser device, and record demarcates the data of stake as standard value.
Step 2, demarcates the data of stake at actual use procedure center line laser aid real time scan record, and the standard value demarcating stake with record in calibration process compares, and monitors self posture position of line laser device.
A kind of self posture position of line laser device that the embodiment of the present invention provides detection measuring method certainly, stake is demarcated by placing in the scanning area of online laser aid, the demarcation stake data measured in call wire laser aid calibration process are as reference data, real time scan monitoring in actual use realizes the monitor in real time to laser aid self posture position, compare with reference data, realize the monitor in real time to self posture position of line laser device and self-calibration, reduce maintenance cost when system is run, decrease laser aid posture position and change the error data analysis caused, improve the Stability and adaptability that system is run.
Step 1 considers certainty of measurement and measurement distance relation, measurement distance and the minimum resolution distance relation of laser aid, it is determined that demarcate the upper and lower width of stake and demarcate stake highly.According to actual applied environment, it is determined that demarcate installation site and the attitude of stake.Demarcating the stake distance needs guarantee with the line laser device sensitivity to laser scanning device attitudes vibration, the more remote sensitivity of relative position is more high, it is possible to select according to the characteristic of line laser device.
Further, step 1 and step 2 are measured and the data demarcating stake that compare include: width, initial point position and relative distance.
It is illustrated in figure 1 the structural representation of a kind of embodiment demarcating stake provided by the invention, it is illustrated in figure 2 the related data instruction figure of demarcation stake provided by the invention, in Fig. 1 and Fig. 2, during line laser device normalization, stake width is demarcated in scanning is d, in real-time monitoring process, the width of stake is demarcated in scanning is D, and the angle change θ that can obtain line laser device vertical direction by measuring the gap demarcating stake width is:
Wherein, R is the distance demarcating stake with line laser device.
Judge that line laser device changes ρ around its rotational angle being perpendicular on the axial direction on ground and is according to initial point position:
ρ=alpha-beta
α demarcates stake to initiate polar polar angle value in real-time monitoring process, β is that the described demarcation stake measured in calibration process initiates polar polar angle value.
The change s of the displacement produced on line laser device relative Calibration stake direction is judged according to line laser device and the relative distance demarcating stake.
It is illustrated in figure 3 the flow chart of a kind of line laser device self posture position self-calibrating method that the embodiment of the present invention provides, from the figure 3, it may be seen that change the positive and negative and size changing s of the displacement of generation on ρ and relative Calibration stake direction and may determine that, according to the angle change θ of line laser device vertical direction, the rotational angle on the axial direction being perpendicular to ground, the direction that self posture position of line laser device changes:
Illustrate during θ > 0 that line laser device is downward-sloping, during θ < 0, illustrate that line laser device is inclined upwardly, during θ=0, illustrate that line laser device pitch attitude does not change.
Illustrate during ρ > 0 that line laser device is perpendicular on the axial direction on ground around it and creates clockwise rotation, illustrate during ρ < 0 that line laser device is perpendicular on the axial direction on ground around it and creates rotation counterclockwise, during ρ=0, illustrate that line laser device is perpendicular on the axial direction on ground around it and does not produce to rotate.
When system is run, the laser measurement data point-to-point analysis to each frame, the reference data of correlation calibration stake carries out monitor in real time.The range of error of θ, ρ and s is set according to actual environment demand, when calculating obtains the range of error that θ, ρ and s exceed correspondence, confirm that change occurs in laser aid posture position, indication wire laser aid attitude is abnormal, and the attitude of line laser device is adjusted by staff according to the positive and negative size of θ, ρ and s.
Software can arrange automatic recalibration, reacquires system calibrating data, improves the reliability of system.
In embodiments of the present invention, the filtering of laser measurement data: due to factors such as vibrations, testee surface reflectivities, laser measurement values there will be jump (measurement error point), the characteristic of jump is that measured value is not fixed and differs greatly.In actual monitoring process, because the characteristic of laser equipment self, can inevitably produce jump.Step 1 and step 2 obtain in the process of the data demarcating stake, also include the Filtering Processing to laser measurement data: by the distance difference of adjacent 2, frame data carried out segmentation, and respectively the data of each section are filtered operation.Thus getting rid of the error that trip point introduces, eliminating the jump impact on overall data, improving the precision that background data is demarcated.
In embodiments of the present invention, the monitoring process of step 2 also includes: obtain device temperature data in real time, according to the measurement error of laser aid and temperature equation, eliminate the measurement error caused because of variations in temperature.Considering the temperature impact on laser aid certainty of measurement, when device temperature gradually rises, laser measurement precision can be continually changing, and this characteristic can badly influence the stability of system overall precision, eliminates this measurement error and ensures the stability of systematic error.
Those of ordinary skill in the art it is also understood that, realize all or part of step in above-described embodiment method to can be by the hardware that program carrys out instruction relevant and complete, described program can be stored in computer read/write memory medium, described storage medium, including ROM/RAM, disk, CD etc..
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all any amendment, equivalent replacement and improvement etc. made within the spirit and principles in the present invention, should be included within protection scope of the present invention.
Claims (8)
1. self posture position of line laser device detects measuring method automatically, it is characterised in that described method includes:
Step 1, places isosceles trapezoid in the scanning area of described line laser device and demarcates stake, and during described line laser device normalization, line laser device scans described demarcation stake, records the data of described demarcation stake as standard value；
Step 2, the data of stake are demarcated described in described line laser device real time scan record in actual use, compare with the standard value of the data of the described demarcation stake of record in calibration process, self posture position of line laser device described in monitor in real time in actual use.
2. the method for claim 1, it is characterised in that described step 1 and measure in described step 2 and the data of described demarcation stake that compare include the width of described demarcation stake；
The angle change θ obtaining line laser device vertical direction by measuring the difference of the width of described demarcation stake is:
Wherein, the width of the described demarcation stake of scanning when d is described line laser device normalization, D is the width of the described demarcation stake of scanning in monitoring process in real time, and R is the distance of described demarcation stake and line laser device.
3. method as claimed in claim 2, it is characterised in that the positive and negative and size changing θ according to the angle of described line laser device vertical direction judges the direction that described self posture position of line laser device changes:
Represent during θ > 0 that described line laser device is downward-sloping, during θ < 0, represent that described line laser device is inclined upwardly, during θ=0, represent that described line laser device pitch attitude does not change.
4. the method for claim 1, it is characterised in that described step 1 and measure in described step 2 and the data of described demarcation stake that compare include: demarcate initial point position and the relative distance of stake；
Judge that described line laser device changes ρ around its rotational angle being perpendicular on the axial direction on ground and is according to described initial point position:
ρ=alpha-beta；
α demarcates stake to initiate polar polar angle value described in real-time monitoring process, β demarcates stake to initiate polar polar angle value described in timing signal；
Judge the change s of the displacement produced on the relative described demarcation stake direction of described line laser device with the relative distance of described demarcation stake according to described line laser device.
5. method as claimed in claim 4, it is characterised in that judge, around the positive and negative and size of its rotational angle change ρ being perpendicular on the axial direction on ground, the direction that described self posture position of line laser device changes according to described line laser device:
Illustrate during described ρ > 0 that described line laser device is perpendicular on the axial direction on ground around it and creates clockwise rotation, illustrate during ρ < 0 that described line laser device is perpendicular on the axial direction on ground around it and creates rotation counterclockwise, during ρ=0, illustrate that described line laser device is perpendicular on the axial direction on ground around it and does not produce to rotate.
6. the method as described in claim 3 or 5, it is characterised in that the range of error of θ, ρ and s is set according to actual environment demand；
When in described step 2, calculating obtains the described range of error that θ, ρ and s exceed correspondence, confirm that change occurs in described line laser device posture position, indication wire laser aid attitude is abnormal, and the attitude of described line laser device is adjusted by staff according to the positive and negative size of θ, ρ and s.
7. the method for claim 1, it is characterized in that, described step 1 and described step 2 obtain in the process of data of described demarcation stake, also include the Filtering Processing to laser measurement data: by the distance difference of adjacent 2, frame data carried out segmentation, and respectively the data of each section are filtered operation.
8. the method for claim 1, it is characterised in that also include in the monitoring process of described step 2: obtain device temperature data in real time, according to the measurement error of laser aid and temperature equation, eliminates the measurement error caused because of variations in temperature.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111352090A (en) * | 2018-12-21 | 2020-06-30 | 保定市天河电子技术有限公司 | Laser radar integrated with attitude system and control method |
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