CN1986972A - Moving position gesture measuring method based on double image sensor suitable for top bridge construction - Google Patents

Abstract

A moving position and posture measuring method based on dual image sensors for jacking bridge member includes such steps as using video acquisition card A to acquire the image coordinate information f1 generated by emitting a laser beam from the first laser collimator to the first photoelectric coupler and the image coordinate information f2 generated by emitting a laser beam from the second laser collimator to the second photoelectric coupler, using the acquisition card B to acquire the rolling angle phi and the pitch angle theta generated by the bridge member to be moved and output by gravitational pendulum, processing said f1, f2, phi and theta by computer according to the mathematical model of coordinate conversion, and outputting an offset correcting signal f3 to hydraulic apparatus.

Description

The moving position gesture measuring method that is applicable to top bridge construction based on double image sensor

Technical field

The present invention relates to a kind of measuring method, more particularly say, be meant and a kind of the bridge case that is moving carried out pose measurement object pose.

Background technology

In the fast-developing process of city, intercity traffic, need to build a large amount of highway cross-over bridge, iron and stride highway cross-over bridge.The economic loss that construction is brought owing to open circuit and too big to the destruction cost of social mobility order is so generally select incremental launching method to the bridge case.Incremental launching method generally adopts level gauge, transit position and the attitude by manual measurement bridge case, manual measurement and judgement can cause the error of related data unavoidably, simultaneously manual measurement to the collection of related data can not be real-time read the use to related data with the system of being convenient for measuring, for surveying work has brought inconvenience.Professional technique, empirical relation for measurement result and operating personnel are very big, are easy to bring the instability of construction quality, the prolongation of duration.Moreover external like product such as existing laser total station costs an arm and a leg on the market, needs multiple devices to form measuring system during use, and such product function often specific aim is not strong.So, develop a kind of pose that can satisfy pushing tow bridge case detect require, easy to operate, real-time good, measuring method with low cost is very necessary.

Summary of the invention

Requirement and characteristics at top bridge construction and bridge case pose measurement thereof, the present invention proposes a kind of moving position gesture measuring method, this moving position gesture measuring method is radiated at the image that forms on the photoelectrical coupler by handling the laser alignment transmitter, and position and the attitude of judging the bridge case in conjunction with the roll angle and the angle of pitch information of the measured bridge case of gravity bob, thereby provide reliable data message for pushing tow bridge case accurately.

The present invention is a kind of moving position gesture measuring method that is applicable to top bridge construction, at first, gathers by the first laser alignment transmitter by video frequency collection card A and to be radiated at the image coordinate information f that forms on first photoelectrical coupler ₁Be radiated at the image coordinate information f that forms on second photoelectrical coupler by the second laser alignment transmitter ₂Gather roll angle φ, the pitching angle theta of the travelling bridge case generation of exporting by gravity bob by capture card B; Then, by the described image coordinate information f of computer to receiving ₁, described image coordinate information f ₂, described roll angle φ, described pitching angle theta, adopt the real time parsing correction of satisfying the coordinate transform Mathematical Modeling to handle after, output correction positional information f ₃Give hydraulic pressure equipment, regulate thereby the bridge case 1 that moves is carried out the installation site.

The present invention is used to measure the device of the moving position gesture of top bridge construction, by the first laser alignment transmitter, the second laser alignment transmitter, first photoelectrical coupler, second photoelectrical coupler, gravity bob, video frequency collection card A, capture card B and computer, and the coordinate transform Mathematical Modeling is formed, described coordinate transform Mathematical Modeling is stored among the ROM of computer, and the laser beam that the first laser alignment transmitter penetrates is radiated at the central point O of first photoelectrical coupler _C1On, the laser beam that the second laser alignment transmitter penetrates is radiated at the central point O of second photoelectrical coupler _C2On, first photoelectrical coupler is installed in the right-hand member of bridge case, and second photoelectrical coupler is installed in the left end of bridge case, and gravity bob is installed in the central point of bridge case end face, and video frequency collection card A, capture card B are installed in the computer cabinet.

Measuring system of the present invention not only can satisfy the in-site measurement needs fully, and have precision height, good a, low cost and other advantages of real-time, can substitute original manual measurement mode, realize the automation of measurement, construction, the while also provides good idea and technology for the research and development of homemade major works construction pose measurement system.

Description of drawings

Fig. 1 is a measuring system structure chart of the present invention.

Fig. 2 is measuring system space coordinate transformation figure of the present invention.

The specific embodiment

The present invention is described in further detail below in conjunction with accompanying drawing.

The present invention is a kind of moving position gesture measuring method that is applicable to top bridge construction, at first, gathers by the first laser alignment transmitter 5 by video frequency collection card A and to be radiated at the image coordinate information f that forms on first photoelectrical coupler 3 ₁Be radiated at the image coordinate information f that forms on second photoelectrical coupler 4 by the second laser alignment transmitter 6 ₂Gather roll angle φ, the pitching angle theta of travelling bridge case 1 generation of exporting by gravity bob 2 by capture card B; Then, by the described image coordinate information f of computer to receiving ₁, described image coordinate information f ₂, described roll angle φ, described pitching angle theta, adopt the real time parsing correction of satisfying the coordinate transform Mathematical Modeling to handle after, output correction positional information f ₃Give hydraulic pressure equipment, regulate thereby the bridge case 1 that moves is carried out the installation site.

See also shown in Figure 1, the present invention is used to measure the device of the moving position gesture of top bridge construction, by the first laser alignment transmitter 5, the second laser alignment transmitter 6, first photoelectrical coupler 3, second photoelectrical coupler 4, gravity bob 2, video frequency collection card A, capture card B and computer, and the coordinate transform Mathematical Modeling is formed, described coordinate transform Mathematical Modeling is stored among the ROM of computer, and the laser beam that the first laser alignment transmitter 5 penetrates is radiated at the central point O of first photoelectrical coupler 3 _C1On, the laser beam that the second laser alignment transmitter 6 penetrates is radiated at the central point O of second photoelectrical coupler 4 _C2On, first photoelectrical coupler 3 is installed in the right-hand member of bridge case 1, and second photoelectrical coupler 4 is installed in the left end of bridge case 1, and gravity bob 2 is installed in the central point of bridge case 1 end face, and video frequency collection card A, capture card B are installed in the computer cabinet.Moving position gesture of the present invention is measured the cooperating that adopts computer and coordinate transform Mathematical Modeling, and the position and attitude that realize dynamically, real-time interpretation bridge case 1 moves sends the pose data to hydraulic test and controls as the foundation of correction operation.

In the present invention, gravity bob 2 is an obliquity sensor, is used to gather roll angle φ, the pitching angle theta of mobile bridge case 1.The information output of gravity bob 2 is connected with serial data capture card B (model is CP-104UL V2).First photoelectrical coupler 3 and second photoelectrical coupler 4 are CCD (Charge CoupledDevice for optical receiver, the CCD sensor), be used to receive the laser beam that irradiates by the first laser alignment transmitter 5 and/or the second laser alignment transmitter 6, and be transferred to video frequency collection card A (model is OK-MC10A) after converting optical information to video information.

Top bridge construction moving position gesture measuring method of the present invention comprises following measuring process:

The first step: determine the position of the first laser alignment transmitter 5 with respect to bridge case 1;

Determine the position of the second laser alignment transmitter 6 with respect to bridge case 1;

Second step: the right-hand member that first photoelectrical coupler 3 is installed in bridge case 1;

Second photoelectrical coupler 4 is installed in the left end of bridge case 1;

Gravity bob 2 is installed in the center of bridge case 1 end face;

The 3rd step: whether the communication information contact of initial adjustment computer and each device is normal;

The 4th step: regulate the laser beam that the first laser alignment transmitter 5 launches and the position of first photoelectrical coupler 3;

Regulate the laser beam that the second laser alignment transmitter 6 launches and the position of second photoelectrical coupler 4;

The 5th step: start hydraulic test work;

The 6th step: computer begins to gather in real time bridge case 1 mobile message;

The 7th step: judge the position and the attitude of bridge case 1 according to coordinate transform Mathematical Modeling (being stored in the computer), and correction information is exported to hydraulic test bridge case 1 is regulated;

The 8th step: after bridge case 1 reached the precalculated position, the position and attitude measuring system quit work.

Pose measurement hardware setting of the present invention (as shown in Figure 1), whole by two laser alignment transmitters, a gravity bob and two CCD targets are formed.Wherein the laser alignment transmitter produces the laser beam of measuring hot spot, and spot diameter is 5mm/100m.Gravity bob 2 is used to measure the roll angle and the angle of pitch, can reach 30 seconds angle measurement accuracy.The CCD receiving target by the CCD that contains wide-angle lens, frosted glass, video and attaching plug and fixedly casing etc. form, gather the centre coordinate that obtains hot spot after the treated calculating of image by image pick-up card.

During pose measurement system operate as normal of the present invention, two bundle laser beams (being penetrated by the first laser alignment transmitter 5, the second laser alignment transmitter 6 a respectively) direct projection is on CCD target separately, the initial position of hot spot overlaps the installation site of first photoelectrical coupler 3 and bridge case 1 central point O with the center of receiving target separately _CVector position relation ${\stackrel{\→}{R}}_{\mathrm{OC}1}=\{X_{\mathrm{OC}1},Y_{\mathrm{OC}1},Z_{\mathrm{OC}1}\}$ , the installation site of second photoelectrical coupler 4 and bridge case 1 central point O _CVector position relation ${\stackrel{\→}{R}}_{\mathrm{OC}2}=\{X_{\mathrm{OC}2},Y_{\mathrm{OC}2},Z_{\mathrm{OC}2}\}$ 。According to related data (roll angle φ, pitching angle theta, the azimuth ψ) result of real-time collection, just can calculate the pose of bridge case accurately and real-time in conjunction with the coordinate transform Mathematical Modeling.

Referring to shown in Figure 2, coordinate transform Mathematical Modeling of the present invention is: disjunctor coordinate system O _C-X _CY _CZ _CBe the centre of form place of bridge case Bridge 1 beam, i.e. bridge case 1 central point O _C, the coordinate system O of first photoelectrical coupler 3 _C1-U _C1V _C1W _C1Be the central point O of first photoelectrical coupler 3 _C1, the coordinate system O of second photoelectrical coupler 4 _C2-U _C2V _C2W _C2Be the central point O of second photoelectrical coupler 4 _C2, O _W-X _WY _WZ _WThe coordinate system of representing the first laser alignment transmitter 5 and the second laser alignment transmitter 6, in the present invention, the first laser alignment transmitter 5, the second laser alignment transmitter 6 adopt world coordinate system, so represent with a coordinate system.Disjunctor coordinate system O _C-X _CY _CZ _CWith coordinate system O _C1-U _C1V _C1W _C1, coordinate system O _C2-U _C2V _C2W _C2Constantly change along with the variation of bridge case 1 position and attitude.The central point O of bridge case 1 _CAt coordinate system O _W-X _WY _WZ _WInitial value be (X _WC0, Y _WC0, Z _WC0).

Now adopt the pose of the pose transformation matrix T statement bridge case 1 of homogeneous coordinates form, $T=\left[\begin{array}{cc}{R}_{3\×3}& P_{3\×1}\\ 0& 1\end{array}\right]$ , R wherein _{3 * 3}Be attitude rotation transformation matrix, P _{3 * 1}Be the position translation transformation matrix.Because attitude rotation transformation matrix is the surplus matrix that revolves of direction that contains nine elements, wherein has only three independent parameters, therefore can chooses and describe this matrix as these three independent parameters around the anglec of rotation of three axles.R _{3 * 3}Can be by roll angle φ, pitching angle theta, azimuth ψ statement, its rotation order is: earlier around disjunctor coordinate system O _C-X _CY _CZ _CMiddle X _CAxle gyrobearing angle ψ obtains orientation attitude frame of reference O _C-X ' _CY ' _CZ ' _C, again around Y ' _CAxle rotary luffing angle θ obtains pitch attitude coordinate system O _C-X " _CY " _CZ " _C, then around Z " _CAxle rotation roll angle φ obtains roll attitude coordinate system O _C-X  _CY  _CZ  _C, then have

$R(\mathrm{\ψ},\mathrm{\θ},\mathrm{\φ})=R(X_C,\mathrm{\ψ})R(Y_C^{\′},\mathrm{\θ})R(Z_C^{\′\′},\mathrm{\φ})=\left[\begin{array}{ccc}\mathrm{c\θc\φ}& -\mathrm{c\θc\φ}& \mathrm{s\θ}\\ \mathrm{s\ψs\θc\φ}+\mathrm{c\ψs\φ}& -\mathrm{s\ψs\θs\φ}+\mathrm{c\ψc\φ}& -\mathrm{s\ψ\θ}\\ -\mathrm{c\ψs\θc\φ}+\mathrm{s\ψs\φ}& \mathrm{c\ψs\θs\φ}+\mathrm{s\ψc\φ}& \mathrm{c\ψc\θ}\end{array}\right]---\left(1\right)$

In the formula, R represents attitude rotation transformation matrix, s=sin, c=cos.

If the central point O of first photoelectrical coupler 3 _C1Coordinate in the disjunctor coordinate system is (X _OC1, Y _OC1, Z _OC1, 1) ^T, the central point O of second photoelectrical coupler 4 _C2Coordinate in the disjunctor coordinate system is (X _OC2, Y _OC2, Z _OC2, 1) ^TIf the coordinate of hot spot in first photoelectrical coupler, 3 coordinate systems that the laser beam of the first laser alignment transmitter 5 is radiated on first photoelectrical coupler 3 is (u _C1, v _C1, w _C1, 1) ^T, its coordinate in world coordinate system is (X _W1, Y _W1, Z _W1, 1) ^T, in like manner, establishing the coordinate of hot spot under second photoelectrical coupler, 4 coordinate systems that the laser beam of the second laser alignment transmitter 6 is radiated on second photoelectrical coupler 4 is (u _C2, v _C2, w _C2, 1) ^T, its coordinate in world coordinate system is (X _W2, Y _W2, Z _W2, 1) ^T, establish bridge case 1 X in world coordinate system _WAxle, Y _WAxle, Z _WTranslational movement on three directions of axle is d _X, d _Y, d _Z

Following computational process has derived the pose transformation matrix between first photoelectrical coupler, 3 coordinate systems, second photoelectrical coupler, 4 coordinate systems and the world coordinate system, and detailed process as shown in Figure 2.

At first make first photoelectrical coupler 3, second photoelectrical coupler, 4 coordinate system O _C1-U _C1V _C1W _C1And O _C2-U _C2V _C2W _C2With moving coordinate system O _C-X _CY _CZ _COverlap, then rotate ψ, θ, φ angle successively, the coordinate axes of himself moves to O respectively along the rotation back separately then _C1And O _C2The point.At last, first photoelectrical coupler, 3 coordinate systems, second photoelectrical coupler, 4 coordinate systems are along X _WAxle, Y _WAxle, Z _WThe axle translation distance $\stackrel{\→}{d}=\{d_X+X_{\mathrm{WC}0},d_Y+Y_{\mathrm{WC}0},d_Z+Z_{\mathrm{WC}0}\}$ 。So just obtained with pose transformation matrix T ₁(first photoelectrical coupler 3), pose transformation matrix T ₂Mapping relations between the coordinate under first photoelectrical coupler, 3 coordinate systems, second photoelectrical coupler, 4 coordinate systems and the world coordinate system of (second photoelectrical coupler 4) expression, promptly

$T_1=\left[\begin{array}{cccc}1& 0& 0& d_X+X_{\mathrm{WC}0}\\ 0& 1& 0& d_Y+Y_{\mathrm{WC}0}\\ 0& 0& 1& d_Z+Z_{\mathrm{WC}0}\\ 0& 0& 0& 1\end{array}\right]\left[\begin{array}{cc}{R}_{3\×3}& 0\\ 0& 1\end{array}\right]\left[\begin{array}{cccc}1& 0& 0& X_{\mathrm{OC}1}\\ 0& 1& 0& Y_{\mathrm{OC}1}\\ 0& 0& 1& Z_{\mathrm{OC}1}\\ 0& 0& 0& 1\end{array}\right]$

$=\left[\begin{array}{cc}{R}_{3\×3}& R_{3\×3}{\left(X_{\mathrm{OC}1}{Y}_{\mathrm{OC}1}{Z}_{\mathrm{OC}1}\right)}^T+\\ & {(d_X+X_{\mathrm{WC}0},d_Y+Y_{\mathrm{WC}0},d_Z+Z_{\mathrm{WC}0})}^T\\ 0_{1\×3}& 1\end{array}\right]---\left(2\right)$

$T_2=\left[\begin{array}{cccc}1& 0& 0& d_X+X_{\mathrm{WC}0}\\ 0& 1& 0& d_Y+Y_{\mathrm{WC}0}\\ 0& 0& 1& d_Z+Y_{\mathrm{WC}0}\\ 0& 0& 0& 1\end{array}\right]\left[\begin{array}{cc}{R}_{3\×3}& 0\\ 0& 1\end{array}\right]\left[\begin{array}{cccc}1& 0& 0& X_{\mathrm{OC}2}\\ 0& 1& 0& Y_{\mathrm{OC}2}\\ 0& 0& 1& Z_{\mathrm{OC}2}\\ 0& 0& 0& 1\end{array}\right]$

$=\left[\begin{array}{cc}{R}_{3\×3}& R_{3\×3}{\left(X_{\mathrm{OC}2}{Y}_{\mathrm{OC}2}{Z}_{\mathrm{OC}2}\right)}^T+\\ & {(d_X+X_{\mathrm{WC}0},d_Y+Y_{\mathrm{WC}0},d_z+Z_{\mathrm{WC}0})}^T\\ 0_{1\×3}& 1\end{array}\right]---\left(3\right)$

The coordinate of two spot center under world coordinate system is

(X _W1，Y _W1，Z _W1，1) ^T＝T ₁(u _C1，v _C1，w _C1，1) ^T (4)

(X _W2，Y _W2，Z _W2，1) ^T＝T ₂(u _C2，v _C2，w _C2，1) ^T (5)

In the formula, w _C1=w _C2=0.

With T ₁, T ₂The substitution following formula is also put in order

$\left\{\begin{array}{c}{X}_{W1}-X_{W2}=\mathrm{c\θc\φ}(u_{C1}-u_{C2})-\mathrm{c\θs\φ}(v_{C1}-v_{C2})+\mathrm{c\θc\φ}(x_{\mathrm{OC}1}-X_{\mathrm{OC}2})-\\ \mathrm{c\θs\φ}(Y_{\mathrm{OC}1}-Y_{\mathrm{OC}2})+\mathrm{s\θ}(Z_{\mathrm{OC}1}-Z_{\mathrm{OC}2})\\ Y_{W1}-Y_{W2}=(\mathrm{s\ψs\θc\φ}+\mathrm{c\ψs\φ})(u_{C1}-u_{C2})+(\mathrm{c\ψc\φ}-\mathrm{s\ψs\θs\φ})(v_{C1}-v_{C2})+\\ (\mathrm{s\ψs\θc\φ}+\mathrm{c\ψs\φ})(X_{\mathrm{OC}1}-X_{\mathrm{OC}2})+\\ (\mathrm{c\ψc\φ}-\mathrm{s\ψs\θs\φ})(Y_{\mathrm{OC}1}-Y_{\mathrm{OC}2})-\mathrm{s\ψc\θ}(Z_{\mathrm{OC}1}-Z_{\mathrm{OC}2})\\ Z_{W1}-Z_{W2}=(\mathrm{s\ψs\φ}-\mathrm{c\ψs\θc\φ})(u_{C1}-u_{C2})+(\mathrm{c\ψs\θs\φ}+\mathrm{s\ψc\φ})(v_{C1}-v_{C2})+\\ (\mathrm{s\ψs\φ}-\mathrm{c\ψs\θc\φ})(X_{\mathrm{OC}1}-X_{\mathrm{OC}2})+\\ (\mathrm{c\ψs\θs\φ}+\mathrm{s\ψc\φ})(Y_{\mathrm{OC}1}-Y_{\mathrm{OC}2})+\mathrm{c\ψc\θ}(Z_{\mathrm{OC}1}-Z_{\mathrm{OC}2})\end{array}\right.----\left(6\right)$

In the formula, s=sin, c=cos.

Because (X _WC0, Y _WC0, Z _WC0), (u _C1, v _C1, w _C1), (X _OC1, Y _OC1, Z _OC1), (u _C2, v _C2, w _C2), (X _OC2, Y _OC2, Z _OC2), φ and θ and (X _W1, Y _W1) and (X _W2, Y _W2) known, then can solve ψ by following formula.

Cos ψ ≈ 1 in actual measurement notices in formula (6) Z simultaneously _W1-Z _W2=(Y _W1-Y _W2) tan ψ, in fact only containing an independent variable tan ψ in latter two equation, two equations of this of rewriting formula (6) get

$\left\{\begin{array}{c}{Y}_{W1}-Y_{W2}=(\tan \mathrm{\ψs\θc\φ}+\mathrm{s\φ})(u_{C1}-u_{C2})+\\ (\mathrm{c\φ}-\tan \mathrm{\ψs\θs\φ})(v_{C1}-v_{C2})+\\ (\tan \mathrm{\ψs\θc\φ}+\mathrm{s\φ})(X_{\mathrm{OC}1}-X_{\mathrm{OC}2})+\\ (\mathrm{c\φ}-\tan \mathrm{\ψs\θs\φ})(Y_{\mathrm{OC}1}-Y_{\mathrm{OC}2})-\\ \tan \mathrm{\ψc\θ}(Z_{\mathrm{OC}1}-Z_{\mathrm{OC}2})\\ (Y_{W1}-Y_{W2})\tan \mathrm{\ψ}=(\tan \mathrm{\ψs\φ}-\mathrm{s\θc\φ})(u_{C1}-u_{C2})+\\ (\mathrm{s\θs\φ}+\tan \mathrm{\ψc\φ})(v_{C1}-v_{C2})+\\ (\tan \mathrm{\ψs\φ}-\mathrm{s\θc\φ})(X_{\mathrm{OC}1}-X_{\mathrm{OC}2})+\\ (\mathrm{s\θs\φ}+\tan \mathrm{\ψc\φ})(Y_{\mathrm{OC}1}-Y_{\mathrm{OC}2})+\\ \mathrm{c\θ}(Z_{\mathrm{OC}1}-Z_{\mathrm{OC}2})\end{array}\right.---\left(7\right)$

Formula (7) is an inconsistent equation group that contains a unknown number tan ψ, and it is organized into a _iTan ψ=b _i+ ε _i, i=1,2 form can be obtained its least square solution according to the Moore-Penrose generalized inverse of matrix and is

tanψ＝(a ₁b ₁+a ₂b ₂)/(a ₁ ²+a ₂ ²) (8)

In the formula,

a ₁＝sθcφ(u _C1-u _C2+X _OC1-X _OC2)-sθsφ(v _C1-v _C2+Y _OC1-Y _OC2)-cθ(Z _OC1-Z _OC2) (9)

b ₁＝Y _W1-Y _W2-sφ(u _C1-u _C2+X _OC1-X _OC2)-cφ(v _C1-v _C2+Y _OC1-Y _OC2) (10)

a ₂＝Y _W1-Y _W2+sφ(u _C1-u _C2+X _OC1-X _OC2)+cφ(v _C1-v _C2+Y _oC1-Y _OC2) (11)

b ₂＝sθcφ(u _C1-u _C2+X _OC1-X _OC2)-sθsφ(v _C1-v _C2+Y _OC1-Y _OC2)-cθ(Z _OC1-Z _OC2) (12)

The present invention is to obtaining the measuring method of reliable position, attitude to the pose transformation matrix between first photoelectrical coupler, 3 coordinate systems, second photoelectrical coupler, 4 coordinate systems and the world coordinate system by the coordinate transform data model.By the form that adopts the pose transformation matrix pose that how is obtained the bridge case by the position coordinates of luminous point on the CCD target surface can be described accurately.This method only needs two laser alignment transmitters, gravity bob and two CCD targets just can determine the pose of bridge case, shortcomings such as the precision that exists in the manual measurement mode is low, real-time difference have effectively been avoided, and be convenient to the constructor with reference to use by the historical data under the computer recording, further heighten the construction technology level.Simultaneously, whole system is compared with external like product, and not only price is very cheap, and the function specific aim is stronger, and tool has an enormous advantage.

Claims (8)

1, a kind of moving position gesture measuring method that is applicable to top bridge construction based on double image sensor is characterized in that: at first, gather by the first laser alignment transmitter 5 by video frequency collection card A and to be radiated at the image coordinate information f that forms on first photoelectrical coupler 3 ₁Be radiated at the image coordinate information f that forms on second photoelectrical coupler 4 by the second laser alignment transmitter 6 ₂Gather roll angle φ, the pitching angle theta of travelling bridge case 1 generation of exporting by gravity bob 2 by capture card B; Then, by the described image coordinate information f of computer to receiving ₁, described image coordinate information f ₂, described roll angle φ, described pitching angle theta, adopt the real time parsing correction of satisfying the coordinate transform Mathematical Modeling to handle after, output correction positional information f ₃Give hydraulic pressure equipment, regulate thereby the bridge case 1 that moves is carried out the installation site.

2, moving position gesture measuring method according to claim 1 is characterized in that: the installation site of first photoelectrical coupler 3 and bridge case 1 central point O _CVector position relation be ${\stackrel{\→}{R}}_{\mathrm{OC}1}=\{X_{\mathrm{OC}1},Y_{\mathrm{OC}1},Z_{\mathrm{OC}1}\},$ The installation site of second photoelectrical coupler 4 and bridge case 1 central point O _CVector position relation be ${\stackrel{\→}{R}}_{\mathrm{OC}2}=\{X_{\mathrm{OC}2},Y_{\mathrm{OC}2},Z_{\mathrm{OC}2}\}.$

3, moving position gesture measuring method according to claim 1 is characterized in that: the pose transformation matrix that described coordinate transform Mathematical Modeling is the homogeneous coordinates form $T$ $=$ $\left[\begin{array}{cc}{R}_{3\×3}& P_{3\×1}\\ 0& 1\end{array}\right],$ R wherein _{3 * 3}Be attitude rotation transformation matrix,

R _{3 * 1}Be the position translation transformation matrix.

4, moving position gesture measuring method according to claim 3 is characterized in that: the pose transformation matrix T of described first photoelectrical coupler 3 ₁And the mapping relations between the coordinate under the world coordinate system are

$T_1=\left[\begin{array}{cccc}1& 0& 0& d_X+X_{\mathrm{WCO}}\\ 0& 1& 0& d_Y+Y_{\mathrm{WCO}}\\ 0& 0& 1& d_Z+Z_{\mathrm{WCO}}\\ 0& 0& 0& 1\end{array}\right]\left[\begin{array}{cc}{R}_{3\×3}& 0\\ 0& 1\end{array}\right]\left[\begin{array}{cccc}1& 0& 0& X_{\mathrm{OC}1}\\ 0& 1& 0& Y_{\mathrm{OC}1}\\ 0& 0& 1& Z_{\mathrm{OC}1}\\ 0& 0& 0& 1\end{array}\right],$

In the formula, d _X+ X _WC0Represent that first photoelectrical coupler 3 is along X _WThe axle translation distance, d _r+ Y _WC0Represent that first photoelectrical coupler 3 is along Y _WThe axle translation distance, d _Z+ Z _WC0Represent that first photoelectrical coupler 3 is along Z _WThe axle translation distance, X _OC1, Y _OC1, Z _OC1Represent that first photoelectrical coupler 3 is at coordinate system O _C1-U _C1V _C1W _C1In the position.

5, moving position gesture measuring method according to claim 3 is characterized in that: the pose transformation matrix T of described second photoelectrical coupler 4 ₂And the mapping relations between the coordinate under the world coordinate system are

$T_2=\left[\begin{array}{cccc}1& 0& 0& d_X+X_{\mathrm{WCO}}\\ 0& 1& 0& d_Y+Y_{\mathrm{WCO}}\\ 0& 0& 1& d_Z+Z_{\mathrm{WCO}}\\ 0& 0& 0& 1\end{array}\right]\left[\begin{array}{cc}{R}_{3\×3}& 0\\ 0& 1\end{array}\right]\left[\begin{array}{cccc}1& 0& 0& X_{\mathrm{OC}2}\\ 0& 1& 0& Y_{\mathrm{OC}2}\\ 0& 0& 1& Z_{\mathrm{OC}2}\\ 0& 0& 0& 1\end{array}\right],$

In the formula, d _X+ X _WC0Represent that first photoelectrical coupler 3 is along X _WThe axle translation distance, d _Y+ Y _WC0Represent that first photoelectrical coupler 3 is along Y _WThe axle translation distance, d _Z+ Z _WC0Represent that first photoelectrical coupler 3 is along Z _WThe axle translation distance, X _OC2, Y _OC2, Z _OC2Represent that first photoelectrical coupler 3 is at coordinate system O _C2-U _C2V _C2W _C2In the position.

6, the device that is used to measure the moving position gesture method according to claim 1, it is characterized in that: by the first laser alignment transmitter (5), the second laser alignment transmitter (6), first photoelectrical coupler (3), second photoelectrical coupler (4), gravity bob (2), video frequency collection card A, capture card B and computer, and the coordinate transform Mathematical Modeling is formed, described coordinate transform Mathematical Modeling is stored among the ROM of computer, and the laser beam that the first laser alignment transmitter (5) penetrates is radiated at the central point O of first photoelectrical coupler (3) _C1On, the laser beam that the second laser alignment transmitter (6) penetrates is radiated at the central point O of second photoelectrical coupler (4) _C2On, first photoelectrical coupler (3) is installed in the right-hand member of bridge case (1), second photoelectrical coupler (4) is installed in the left end of bridge case (1), and gravity bob (2) is installed in the central point of bridge case (1) end face, and video frequency collection card A, capture card B are installed in the computer cabinet.

7, moving position gesture measurement mechanism according to claim 6 is characterized in that: described gravity bob (2) is an obliquity sensor, is used to gather roll angle φ, the pitching angle theta of mobile bridge case (1).

8, moving position gesture measurement mechanism according to claim 6, it is characterized in that: described first photoelectrical coupler (3) and second photoelectrical coupler (4) are optical receiver, be used for receiving the laser beam that irradiates by the first laser alignment transmitter (5) and/or the second laser alignment transmitter (6), and be transferred to video frequency collection card A after converting optical information to video information.