CN114322950B - Servo total station and prism automatic alignment method, device and storage medium - Google Patents
Servo total station and prism automatic alignment method, device and storage medium Download PDFInfo
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Abstract
The invention discloses an automatic prism sighting method of a servo total station, which is applied to automatic sighting of the servo total station, and by setting parameters of a camera of the servo total station, the receiving intensity of a laser signal returned by the prism is strongest, and meanwhile, the problem of delay caused by cache of the camera is solved; and calculating a light spot center coordinate through the image, comparing the light spot center coordinate with a system calibration coordinate, and driving and controlling the rotation of the servo total station so that the light spot center coordinate of the image is consistent with the system calibration coordinate, thereby realizing the automatic collimation of the prism. The invention also greatly improves the automatic alignment efficiency of the prism. The invention also discloses a prism automatic sighting device of the servo total station, a storage medium and the servo total station.
Description
Technical Field
The present invention relates to a servo total station, and more particularly, to a prism auto-registration method for a servo total station, a device, and a storage medium.
Background
The existing servo total station automatically aims by collecting whether a prism exists in an image or not. When judging whether a prism exists, the prism is generally calculated by two pictures when the laser is turned on and turned off. However, in this way, delay may be caused due to the existence of the cache of the camera, so that the efficiency of collecting the information of the light spot returned by the prism may be reduced; meanwhile, the problems of low efficiency and the like exist.
Disclosure of Invention
In order to overcome the defects of the prior art, one of the purposes of the invention is to provide an automatic prism aligning method of a servo total station, which can solve the problems of low automatic prism aligning efficiency and the like of the servo total station in the prior art.
The second object of the present invention is to provide an automatic prism aligning device for a total servo station, which can solve the problems of low automatic prism aligning efficiency and the like of the total servo station in the prior art.
The third object of the present invention is to provide a storage medium, which can solve the problems of the prior art, such as low automatic prism alignment efficiency of the servo total station.
The fourth object of the present invention is to provide a servo total station, which can solve the problems of low automatic prism alignment efficiency and the like of the servo total station in the prior art.
One of the purposes of the invention is realized by adopting the following technical scheme:
the automatic prism sighting method of the servo total station comprises a mounting bracket, and a main control device, a camera, a laser transmitter and a motor which are arranged on the mounting bracket; the motor is electrically connected with the main controller and is used for driving the servo total station to rotate so as to drive the camera and the laser transmitter to rotate; the laser transmitter is used for transmitting laser signals to the prism; the camera is used for receiving the laser signals reflected by the prism and forming an image; the prism automatic alignment method comprises the following steps:
parameter setting: setting a green channel value and a blue channel value of the camera to be the lowest values and setting a red channel value to be the highest values through a main control device; setting the background of the image shot by the camera to be black;
and a laser emission step: the main control equipment is used for controlling the laser transmitter to transmit laser signals to the prism, and the main control equipment is used for acquiring images formed by the camera according to the laser signals reflected by the prism;
automatic collimation step: and the main control equipment calculates the central coordinate of the light spot according to the image, and controls the motor to drive the servo total station to rotate according to the central coordinate of the light spot and the system calibration coordinate through the main control equipment, so that the prism is automatically calibrated.
Further, the automatic sighting step specifically includes:
and calculating a center coordinate: acquiring an image sent by the camera through main control equipment, and calculating to obtain a spot center coordinate according to the image;
judging: judging whether the light spot center coordinates of the image are consistent with the system calibration coordinates, if so, completing automatic calibration; if not, driving a motor to drive a servo total station to rotate through a main control device, and then executing a laser emission step; and completing automatic collimation until the light spot center coordinates of the image are consistent with the system calibration coordinates.
Further, in the judging step, when the deviation angle between the light spot center coordinate of the image and the system calibration coordinate is smaller than a preset value, the light spot center coordinate of the image is consistent with the system calibration coordinate; otherwise, the two are inconsistent.
Further, the calculating process of the deviation angle between the central coordinate of the light spot of the image and the calibration coordinate of the system in the judging step specifically comprises the following steps: calculating to obtain a deviation pixel between the spot center coordinate and the system calibration coordinate of the image according to the spot center coordinate and the system calibration coordinate of the image, and then calculating to obtain a deviation angle between the spot center coordinate and the system calibration coordinate of the image according to the deviation pixel between the spot center coordinate and the system calibration coordinate of the image; wherein the deviation angle = deviation pixel 7.5 angle/sec.
Further, the center coordinate calculating step specifically includes: the method comprises the steps of preprocessing an acquired image through a main control device, acquiring all pixel points with brightness value of 255 in the image, and then solving center coordinates of all pixel points to obtain spot center coordinates of the image.
Further, the laser signal is a near infrared laser signal.
Further, the divergence angle of the laser signal is an eyepiece field angle of a servo total station, and the laser signal is coaxial with the servo total station.
The second purpose of the invention is realized by adopting the following technical scheme:
an automatic prism aligning device of a servo total station comprises a memory, a processor and a computer program stored on the memory and running on the processor, wherein the computer program is an automatic prism aligning program, and the processor realizes the steps of an automatic prism aligning method of the servo total station adopted by one of the purposes of the invention when executing the automatic prism aligning program.
The third purpose of the invention is realized by adopting the following technical scheme:
a storage medium which is a computer-readable storage medium having stored thereon a computer program which is a prism auto-registration program for executing the steps of a prism auto-registration method of a servo total station as employed for one of the purposes of the present invention.
The fourth purpose of the invention is realized by adopting the following technical scheme:
a servo total station for performing a prism auto-registration method of a servo total station as employed for one of the purposes of the present invention.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, by setting the parameters of the camera of the servo total station, the laser signal returned by the receiving prism is strongest, so that the problem of delay caused by image caching of the existing camera can be solved, and the efficiency of collecting the information of the returned light spots of the prism is improved; meanwhile, the background of the image shot by the camera is black, so that light spots in the image formed by laser returned by the shot prism are clearer, background stray light is thoroughly eliminated, and the subsequent calculation is more accurate; the invention also judges whether the center coordinates of the light spots in the image returned by the prism are consistent with the calibration coordinates so as to control the rotation of the servo total station, realize the automatic alignment function and greatly improve the alignment efficiency of the prism.
Drawings
FIG. 1 is a flow chart of a prism auto-collimation method of a servo total station provided by the invention;
FIG. 2 is a flowchart showing step S4 in FIG. 1;
fig. 3 is a block diagram of an automatic prism alignment device of a servo total station according to the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and detailed description, wherein it is to be understood that, on the premise of no conflict, the following embodiments or technical features may be arbitrarily combined to form new embodiments.
The present invention provides a preferred embodiment, a prism auto-collimation method of a servo total station, as shown in fig. 1 and 2, comprising the steps of:
and S1, setting parameters.
In general, a servo total station includes a mounting bracket, a main control device on the mounting bracket, a camera, a laser transmitter, and a motor. The main controller device is electrically connected with the motor and used for driving the servo total station to rotate.
The camera and the laser transmitter are arranged on the mounting bracket and are electrically connected with the main control equipment. And the laser transmitter is used for transmitting laser signals to the prism. When the prism receives the laser signal, the prism reflects the laser signal. And the camera is used for receiving the signal reflected by the laser signal and forming an image.
And after the main control equipment receives the image sent by the camera, judging whether the prism is in the image according to the image.
In addition, in order to ensure the intensity of signal reception, the present embodiment sets parameters of the camera. Specifically, since the laser signal adopted in the embodiment is a near infrared laser signal, the green channel value and the blue channel value of the camera are set to be the lowest values, and the red channel value is set to be the highest values, so that the receiving capability of the camera for the laser signal returned by the prism is strongest. For example, the photographic efficiency of the camera for the red, blue and green channels may be set by modifying the values of registers within the camera.
Preferably, in this embodiment, the background color of the image shot by the camera is also set to be black, so that the background of the image acquired by the camera is sufficiently dark, and thus, the light spots in the image formed by the laser signals returned by the prism are sufficiently clear, so as to improve the precision of subsequent image processing, thereby avoiding the problem of delay caused by cache of the camera and improving the efficiency of returning the light spot information by the prism. Under natural light environment, the green channel value and the blue channel value of the camera are the lowest, so that the camera is insensitive to light in blue wave band and infrared wave band in natural light, and the background of the image shot by the camera is black. In addition, through the parameter setting, the image processing speed can be improved, the delay is lower, and the center coordinates of the light spots in the subsequent rapid acquired images can be realized.
And S2, controlling the laser transmitter to transmit laser signals to the prism through the main control equipment.
Preferably, the laser signal emitted by the laser emitter in the present invention is a near infrared laser signal. Specifically, the near infrared laser signal may be a 785 near infrared laser signal or an 850 near infrared laser signal. For example, the 785 near infrared laser signal has strong atmospheric penetrability and is less affected by visible light. Meanwhile, the 785 laser instrument is low in manufacturing cost, and the 785 laser instrument is adopted as the laser emitter in the embodiment. That is, the near infrared laser signal is a laser signal in the infrared band.
Preferably, when the near infrared laser signal is emitted, the divergence angle of the laser emitter is equal to the eyepiece field angle of the servo total station, and the laser emitter is coaxially disposed with the servo total station.
And S3, acquiring an image formed by the camera according to the laser signals reflected by the prism through a main controller device.
And S4, calculating a light spot center coordinate according to the image by the main control equipment, and controlling the motor to drive the servo total station to rotate by the main control equipment according to the light spot center coordinate and the system calibration coordinate so as to realize automatic prism calibration.
Preferably, step S4 specifically further includes:
and S41, acquiring an image sent by the camera through the main control equipment, and calculating to obtain the center coordinates of the light spots according to the image.
Step S42, judging whether the central coordinates of the light spots of the image are consistent with the calibration coordinates of the system, if so, stopping automatic calibration; if not, executing step S43; if yes, automatic collimation is completed.
Preferably, in step S42, when the deviation angle between the spot center coordinate of the image and the system calibration coordinate is smaller than the preset value, the spot center coordinate of the image is consistent with the system calibration coordinate.
The calculation of the deviation angle is that firstly, the deviation pixel between the spot center coordinate and the system calibration coordinate of the image is calculated according to the spot center coordinate and the system calibration coordinate of the image, and then the deviation angle between the spot center coordinate and the system calibration coordinate of the image is calculated according to the deviation pixel between the spot center coordinate and the system calibration coordinate of the image.
Preferably, the deviation angle = deviation pixel 7.5 angular seconds. For example, if the deviation pixel is less than 0.5 pixel, then the deviation pixel is considered to be consistent.
Step S43, driving a motor to drive a servo total station to rotate through a main control device, and then step S2.
And completing automatic collimation until the light spot center coordinates of the image are consistent with the system calibration coordinates.
Preferably, the spot center coordinates of the image are obtained by preprocessing the acquired image through the main control equipment, acquiring all pixel points with brightness value of 255 in the image, and then solving the center coordinates of all pixel points to obtain the spot center coordinates of the image.
Example two
The invention provides an automatic prism sighting device of a servo total station. As shown in fig. 3, an internal structure diagram of a prism automatic alignment device of a servo total station according to an embodiment of the present invention is shown.
In this embodiment, the prism automatic sighting device of the total servo station may be a PC (personal computer), or may be a terminal device such as a smart phone, a tablet computer, a portable computer, or the like. The prism automatic sighting device of the servo total station at least comprises: a processor 12, a communication bus 13, a network interface 14 and a memory 11.
The memory 11 includes at least one type of readable storage medium including flash memory, a hard disk, a multimedia card, a card memory (e.g., SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, etc. The memory 11 may in some embodiments be an internal memory unit of a prism auto-registering device of a servo total station, for example a hard disk of the prism auto-registering device of the servo total station. The memory 11 may also be an external memory device of a prism auto-registration device of a servo total station in other embodiments, for example, a plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card) or the like provided on the prism auto-registration device of the servo total station. Further, the memory 11 may also comprise both an internal memory unit and an external memory device of a prism auto-registering device of a servo total station. The memory 11 may be used not only for storing application software of a prism automatic registration device installed in a type of servo total station and various kinds of data, such as codes of a prism automatic registration program, etc., but also for temporarily storing data that has been output or is to be output.
The processor 12 may in some embodiments be a central processing unit (Central Processing Unit, CPU), controller, microcontroller, microprocessor or other data processing chip for running program code or processing data stored in the memory 11, for example for executing prism auto-calibration programs or the like.
The communication bus 13 is used to enable connection communication between these components.
The network interface 14 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), and is typically used to establish a communication link between the prism auto-registering device of the one type of servo total station and other electronic equipment.
Optionally, the prism auto-registering device of the servo total station may further comprise a user interface, wherein the user interface may comprise a Display (play), an input unit such as a Keyboard (Keyboard), and the optional user interface may further comprise a standard wired interface and a wireless interface. Alternatively, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (organic light-Emitting Diode) touch, or the like. The display may also be referred to as a display screen or display unit, as appropriate, for displaying information processed in a prism automatic sighting device of a servo total station and for displaying a visual user interface.
Fig. 3 shows only the prism auto-registration apparatus of a servo total station with assemblies 11-14 and prism auto-registration procedure, and it will be understood by those skilled in the art that the configuration shown in fig. 3 is not limiting of a prism auto-registration apparatus of a servo total station and may include fewer or more components than shown, or some components in combination, or a different arrangement of components.
In one prism auto-registration apparatus embodiment of a servo total station shown in fig. 3, a prism auto-registration program is stored in the memory 11; the processor 12 performs the following steps when executing the prism auto-registration program stored in the memory 11:
parameter setting: setting a green channel value and a blue channel value of the camera to be the lowest values and setting a red channel value to be the highest values through a main control device; setting the background of the image shot by the camera to be black;
and a laser emission step: the main control equipment is used for controlling the laser transmitter to transmit laser signals to the prism, and the main control equipment is used for acquiring images formed by the camera according to the laser signals reflected by the prism;
automatic collimation step: and the main control equipment calculates the central coordinate of the light spot according to the image, and controls the motor to drive the servo total station to rotate according to the central coordinate of the light spot and the system calibration coordinate through the main control equipment, so that the prism is automatically calibrated.
Further, the automatic sighting step specifically includes:
and calculating a center coordinate: acquiring an image sent by the camera through main control equipment, and calculating to obtain a spot center coordinate according to the image;
judging: judging whether the light spot center coordinates of the image are consistent with the system calibration coordinates, if so, completing automatic calibration; if not, driving a motor to drive a servo total station to rotate through a main control device, and then executing a laser emission step; and completing automatic collimation until the light spot center coordinates of the image are consistent with the system calibration coordinates.
Further, in the judging step, when the deviation angle between the light spot center coordinate of the image and the system calibration coordinate is smaller than a preset value, the light spot center coordinate of the image is consistent with the system calibration coordinate; otherwise, the two are inconsistent.
Further, the calculating process of the deviation angle between the central coordinate of the light spot of the image and the calibration coordinate of the system in the judging step specifically comprises the following steps: calculating to obtain a deviation pixel between the spot center coordinate and the system calibration coordinate of the image according to the spot center coordinate and the system calibration coordinate of the image, and then calculating to obtain a deviation angle between the spot center coordinate and the system calibration coordinate of the image according to the deviation pixel between the spot center coordinate and the system calibration coordinate of the image; wherein the deviation angle = deviation pixel 7.5 angular seconds.
Further, the center coordinate calculating step specifically includes: the method comprises the steps of preprocessing an acquired image through a main control device, acquiring all pixel points with brightness value of 255 in the image, and then solving center coordinates of all pixel points to obtain spot center coordinates of the image.
Further, the laser signal is a near infrared laser signal.
Further, the divergence angle of the laser signal is an eyepiece field angle of a servo total station, and the laser signal is coaxial with the servo total station.
Example III
Based on the first embodiment of the present invention, the present invention further provides an embodiment, a storage medium, where the storage medium is a computer readable storage medium, and a computer program is stored on the storage medium, and the computer program is a prism auto-collimation program, where when the prism auto-collimation program is executed by a processor, the following steps are implemented:
parameter setting: setting a green channel value and a blue channel value of the camera to be the lowest values and setting a red channel value to be the highest values through a main control device; setting the background of the image shot by the camera to be black;
and a laser emission step: the main control equipment is used for controlling the laser transmitter to transmit laser signals to the prism, and the main control equipment is used for acquiring images formed by the camera according to the laser signals reflected by the prism;
automatic collimation step: and the main control equipment calculates the central coordinate of the light spot according to the image, and controls the motor to drive the servo total station to rotate according to the central coordinate of the light spot and the system calibration coordinate through the main control equipment, so that the prism is automatically calibrated.
Further, the automatic sighting step specifically includes:
and calculating a center coordinate: acquiring an image sent by the camera through main control equipment, and calculating to obtain a spot center coordinate according to the image;
judging: judging whether the light spot center coordinates of the image are consistent with the system calibration coordinates, if so, completing automatic calibration; if not, driving a motor to drive a servo total station to rotate through a main control device, and then executing a laser emission step; and completing automatic collimation until the light spot center coordinates of the image are consistent with the system calibration coordinates.
Further, in the judging step, when the deviation angle between the light spot center coordinate of the image and the system calibration coordinate is smaller than a preset value, the light spot center coordinate of the image is consistent with the system calibration coordinate; otherwise, the two are inconsistent.
Further, the calculating process of the deviation angle between the central coordinate of the light spot of the image and the calibration coordinate of the system in the judging step specifically comprises the following steps: calculating to obtain a deviation pixel between the spot center coordinate and the system calibration coordinate of the image according to the spot center coordinate and the system calibration coordinate of the image, and then calculating to obtain a deviation angle between the spot center coordinate and the system calibration coordinate of the image according to the deviation pixel between the spot center coordinate and the system calibration coordinate of the image; wherein the deviation angle = deviation pixel 7.5 angle/sec.
Further, the center coordinate calculating step specifically includes: the method comprises the steps of preprocessing an acquired image through a main control device, acquiring all pixel points with brightness value of 255 in the image, and then solving center coordinates of all pixel points to obtain spot center coordinates of the image.
Further, the laser signal is a near infrared laser signal.
Further, the divergence angle of the laser signal is an eyepiece field angle of a servo total station, and the laser signal is coaxial with the servo total station.
Example IV
A servo total station for performing a prism auto-registration method of a servo total station as provided in the first embodiment.
The above embodiments are only preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, but any insubstantial changes and substitutions made by those skilled in the art on the basis of the present invention are intended to be within the scope of the present invention as claimed.
Claims (7)
1. The automatic prism sighting method of the servo total station comprises a mounting bracket, and a main control device, a camera, a laser transmitter and a motor which are arranged on the mounting bracket; the motor is electrically connected with the main control equipment and is used for driving the servo total station to rotate so as to drive the camera and the laser transmitter to rotate; the laser transmitter is used for transmitting laser signals to the prism; the camera is used for receiving the laser signals reflected by the prism and forming an image; the prism automatic alignment method is characterized by comprising the following steps of:
parameter setting: setting a green channel value and a blue channel value of the camera to be the lowest values and setting a red channel value to be the highest values through a main control device; setting the background of the image shot by the camera to be black;
and a laser emission step: the main control equipment is used for controlling the laser transmitter to transmit laser signals to the prism, and the image formed by the camera according to the laser signals reflected by the prism is obtained;
automatic collimation step: calculating a light spot center coordinate according to the image by using a main control device, controlling the motor to drive a servo total station to rotate by using the main control device according to the light spot center coordinate and a system calibration coordinate, and realizing automatic prism alignment;
the automatic sighting step specifically comprises the following steps:
and calculating a center coordinate: acquiring an image sent by the camera through main control equipment, and calculating to obtain a spot center coordinate according to the image;
judging: judging whether the light spot center coordinates of the image are consistent with the system calibration coordinates, if so, completing automatic calibration; if not, driving a motor to drive a servo total station to rotate through a main control device, and then executing a laser emission step; until the central coordinates of the light spots of the image are consistent with the calibration coordinates of the system, completing automatic collimation; in the judging step, when the deviation angle between the light spot center coordinate of the image and the system calibration coordinate is smaller than a preset value, the light spot center coordinate of the image is consistent with the system calibration coordinate; otherwise, the two are inconsistent; the calculating process of the deviation angle between the light spot center coordinate of the image and the system calibration coordinate in the judging step specifically comprises the following steps: calculating to obtain a deviation pixel between the spot center coordinate and the system calibration coordinate of the image according to the spot center coordinate and the system calibration coordinate of the image, and then calculating to obtain a deviation angle between the spot center coordinate and the system calibration coordinate of the image according to the deviation pixel between the spot center coordinate and the system calibration coordinate of the image; wherein the deviation angle = deviation pixel x 7.5 angular seconds.
2. The prism auto-collimation method of a servo total station according to claim 1, wherein the center coordinate calculating step specifically comprises: the method comprises the steps of preprocessing an acquired image through a main control device, acquiring all pixel points with brightness value of 255 in the image, and then solving center coordinates of all pixel points to obtain spot center coordinates of the image.
3. The method of prism auto-collimation for a servo total station as recited in claim 1, wherein the laser signal is a near infrared laser signal.
4. The method of automatic prism calibration for a servo total station according to claim 1, wherein the divergence angle of the laser signal is an eyepiece field angle of the servo total station, and the laser signal is coaxial with the servo total station.
5. A prism auto-alignment apparatus for a servo total station comprising a memory, a processor and a computer program stored on the memory and running on the processor, the computer program being a prism auto-alignment program, characterized in that the processor, when executing the prism auto-alignment program, implements the steps of a prism auto-alignment method for a servo total station as claimed in any one of claims 1-4.
6. A storage medium, which is a computer-readable storage medium, on which a computer program is stored, which computer program is a prism auto-registration program, characterized in that the steps of a prism auto-registration method of a servo total station as claimed in any one of claims 1-4 are implemented when the prism auto-registration program is executed.
7. A servo total station for performing a prism auto-registration method of a servo total station as claimed in any one of claims 1 to 4.
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| CN107356202A (en) * | 2017-07-27 | 2017-11-17 | 中国科学院光电研究院 | A kind of laser scanning measurement system target sights method automatically |
| CN107449394A (en) * | 2017-06-30 | 2017-12-08 | 沈阳建筑大学 | Total powerstation electronics center support system and its centering automatic compensating method |
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|---|---|---|---|---|
| CN105865426A (en) * | 2016-05-12 | 2016-08-17 | 河南理工大学 | Automatic centering and measuring total station |
| CN106679638A (en) * | 2016-12-20 | 2017-05-17 | 常州市新瑞得仪器有限公司 | Total station instrument and lofting and guiding method thereof |
| CN107449394A (en) * | 2017-06-30 | 2017-12-08 | 沈阳建筑大学 | Total powerstation electronics center support system and its centering automatic compensating method |
| CN107356202A (en) * | 2017-07-27 | 2017-11-17 | 中国科学院光电研究院 | A kind of laser scanning measurement system target sights method automatically |
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