CN207457506U - A kind of high-precision list laser beam 3 D locating device - Google Patents
A kind of high-precision list laser beam 3 D locating device Download PDFInfo
- Publication number
- CN207457506U CN207457506U CN201720216352.XU CN201720216352U CN207457506U CN 207457506 U CN207457506 U CN 207457506U CN 201720216352 U CN201720216352 U CN 201720216352U CN 207457506 U CN207457506 U CN 207457506U
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- China
- Prior art keywords
- laser
- steering engine
- host
- distance
- engine arm
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- Length Measuring Devices By Optical Means (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The utility model discloses a kind of high-precision list laser beam 3 D locating devices, including host and the steering engine group being arranged at the top of host, steering engine group include be mounted on host at the top of hydroplane horn and one end hinge-connection horizontal steering engine top vertical steering engine arm, the vertical steering engine arm other end is equipped with distance-measuring device, laser emitter is installed on vertical steering engine arm immediately below distance-measuring device, distance test device is used to detect the distance of laser transmitter projects laser direction, the angular transducer for measuring steering engine arm rotational angle is also equipped on hydroplane horn and vertical steering engine arm；It is provided with to capture the camera of measured object on host front end face, host backend is provided with display on face, space object is detected in the planes using video camera and image processing techniques, the inside captures object around the laser beam that measuring point rotates again, and record the distance of relatively former Fixed-point Motion of A at this time, then laser beam emitting point is measured to the distance of testee according to optical principle, object in ensureing to space simplifies entire positioner while carrying out and effectively positioning, and facilitates actual job.
Description
Technical field
The utility model belongs to measurement and control area, and in particular to a kind of high-precision list laser beam 3 D locating device.
Background technology
At present, space orientation technique is widely used in building and construction machinery industry.To existing space-location method
Speech is mostly multipoint positioning, i.e., using multiple cameras or multiple laser beams using three-point fix principle to space object into
Row positioning；But it is positioned using multiple cameras and multiple laser beams, the requirement to space is larger, and quite a few is fixed
The structure of position method is more complicated, thus easily actual job is caused to perplex.Therefore, how in a limited space in space
Interior object carries out effective space orientation, meanwhile, and avoid entire positioning device structure excessively complicated, it is skill urgently to be resolved hurrily
Art problem.
Utility model content
In view of the deficienciess of the prior art, the purpose of this utility model is to provide a kind of laser based on image procossing
Beam space positioning apparatus and method detect space object in the planes using video camera and image processing techniques, then the inside around
The laser beam that measuring point rotates captures object, and records the distance of relatively former Fixed-point Motion of A at this time, then former according to optics
Reason measures laser beam emitting point to the distance of testee, while object interior in ensureing to space is effectively positioned
Simplify entire positioner, facilitate actual job.
To achieve these goals, the technical solution adopted in the utility model is that a kind of high-precision list laser beam is three-dimensional fixed
Position device, including host and the steering engine group being arranged at the top of host, steering engine group includes being mounted on the horizontal steering engine at the top of host
In the vertical steering engine arm on horizontal steering engine top, the vertical steering engine arm other end is equipped with range measurement dress for arm and one end hinge-connection
It puts, laser emitter is installed on the vertical steering engine arm immediately below distance-measuring device, distance test device is used to detect laser
Transmitter emits the distance of laser direction, is also equipped on hydroplane horn and vertical steering engine arm for measuring steering engine arm angle of rotation
The angular transducer of degree；It is provided with to capture the camera of measured object on host front end face, is provided on host backend face aobvious
Show device.
The laser emitter uses wide-angle camera using single laser emitter, the camera.
Laser pickoff and timer are further included, laser pickoff is irradiated to for receiving the light beam that laser emitter is sent
The light beam reflected during testee；Timer is used for the laser emission time t of recording laser transmitter1And laser pickoff
Receive the time t of transmitting light beam2, the microcontroller being arranged in host is further included, microcontroller memory contains the transmission speed of laser
V, the hydroplane horn and the rotational angle and timer of vertical steering engine arm that microcontroller is arrived for receiving angle Sensor monitoring
The laser emission time t of record1The time t of transmitting light beam is received with laser pickoff2, and the sky that testee will be calculated
Between position be sent to display, display is used to show the spatial position of testee.
Compared with prior art, the utility model does not have that in the case where not reducing positioning accuracy to the occupancy in space
High requirement, meanwhile, it forms that structure is relatively easy, and is determined according to the localization method mentioned in the utility model
If position, required cost is relatively low, and preparation gets up also to be easier.
Description of the drawings
Fig. 1 is the composition figure of the utility model device；
Fig. 2 is the work flow diagram of the utility model device.
In attached drawing：1. laser emitter；2. distance-measuring device；3. steering engine group；4. angular transducer；5. display；6.
Microcontroller；7. wide-angle camera；
Specific embodiment
The utility model is described further with reference to the accompanying drawings and detailed description, it is necessary to which what is illustrated is this practicality
New to be not limited to specific examples below, all equivalents done on the basis of technical scheme each fall within this practicality
New protection domain.
As shown in Figure 1, the utility model device includes host and the steering engine group 3 being arranged at the top of host, steering engine group 3 are wrapped
The hydroplane horn being mounted at the top of host and one end hinge-connection are included in the vertical steering engine arm on horizontal steering engine top, vertical steering engine
The arm other end is equipped with distance-measuring device 2, and laser emitter is equipped on the vertical steering engine arm of 2 underface of distance-measuring device
1, distance test device is used to detect the distance that laser emitter 1 emits laser direction, on hydroplane horn and vertical steering engine arm
It is also equipped with the angular transducer 4 for measuring steering engine arm rotational angle；It is provided with to capture measured object on host front end face
Camera 7, be provided with display 5 on host backend face；Laser pickoff and timer are further included, laser pickoff is used to connect
It receives the light beam that laser emitter 1 is sent and is irradiated to the light beam reflected during testee；Timer emits for recording laser
The laser emission time t of device 11The time t of transmitting light beam is received with laser pickoff2, further include the monolithic being arranged in host
Machine 6,6 memory of microcontroller contain the transmission speed v of laser, and microcontroller 6 is used for the horizontal steering engine that receiving angle sensor 4 monitors
The laser emission time t of the rotational angle and timer record of arm and vertical steering engine arm1Transmitting light is received with laser pickoff
The time t of beam2, and the spatial position that testee is calculated is sent to display 5, display 5 is used to show measured object
The spatial position of body.
For laser emitter 1 in the utility model using single laser emitter, camera 7 uses wide-angle camera.
As shown in Fig. 2, the method for the utility model comprises the following steps：
Step 1：Testee is placed in the visual field of camera, is shot with camera, and shooting is obtained into image transmission
To microcontroller；
Step 2：Microcontroller handles the image received, step obtain testee border in image and
Laser spot position determines the position relationship between laser point and measured object；
Step 3：The laser beam for driving laser transmitter projects by microcontroller control flaps unit rotates, and passes through angle sensor
The angle that device measurement laser beam rotates, when laser beam turns to the geometric center for being directed toward testee, steering engine group stops operating,
The rotational angle α for the laser beam horizontal plane that recording angular sensor measures and vertical guide rotational angle β；
Step 4：Measurement point laser emitter is to the point-to-point air line distance d of testee；
First by laser transmitter projects light through convex lens generate a branch of parallel light source simultaneously by timer record this
When moment t1；It is reflected when light beam is irradiated to testee, the light beam reflected is again passed through convex along backtracking
Lens, grating and optical filtering are received by laser pickoff, and when laser pickoff receives the laser of return, timer is remembered again
Record t at the time of at this time2, and microcontroller is transmitted to, and the transmission speed v of known laser, then distance d calculation formula are as follows：
D=v × (t2-t1)
Step 5：Microcontroller calculates the three-dimensional coordinate of measured object by d, α and β parameter, then will be tested by display device
The three-dimensional coordinate of object is shown.
The laser beam used in the step three is single beam, when carrying out space orientation by measuring single laser beam around survey
Point rotates, and passes through angular transducer record angle [alpha] at this time and β.
The step five is to measure distance parameter d by the angle parameter α and β that are measured according to step 3, step 4 to retouch
It states, when calculating the form of space coordinates (x, y, z) make use of to show, and shown.
Single laser emitter 1 of the utility model, camera 7, steering engine group 3, microcontroller 6, distance-measuring device 2, angle
It is attached between sensor 4 and display 5 by data connecting line.
Claims (3)
1. a kind of high-precision list laser beam 3 D locating device, which is characterized in that including host and be arranged at the top of host
Steering engine group (3), steering engine group (3) is including the hydroplane horn being mounted at the top of host and one end hinge-connection on horizontal steering engine top
Vertical steering engine arm, the vertical steering engine arm other end is equipped with distance-measuring device (2), perpendicular immediately below distance-measuring device (2)
Laser emitter (1) is installed, distance test device is used to detect laser emitter (1) transmitting laser direction on straight steering engine arm
The angular transducer (4) for measuring steering engine arm rotational angle is also equipped on distance, hydroplane horn and vertical steering engine arm；It is main
It is provided with to capture the camera (7) of measured object on machine front end face, display (5) is provided on host backend face.
A kind of 2. high-precision list laser beam 3 D locating device according to claim 1, which is characterized in that the laser hair
Emitter (1) uses wide-angle camera using single laser emitter, the camera (7).
3. a kind of high-precision list laser beam 3 D locating device according to claim 1, which is characterized in that further include laser
Receiver and timer, laser pickoff occur for receiving when the light beam that laser emitter (1) is sent is irradiated to testee
The light beam of reflection；Timer is used for the laser emission time t of recording laser transmitter (1)1Transmitting light is received with laser pickoff
The time t of beam2, the microcontroller (6) being arranged in host is further included, microcontroller (6) memory contains the transmission speed v of laser, single
Rotational angle and the timing of hydroplane horn and vertical steering engine arm that piece machine (6) monitors for receiving angle sensor (4)
The laser emission time t of device record1The time t of transmitting light beam is received with laser pickoff2, and testee will be calculated
Spatial position is sent to display (5), and display (5) is used to show the spatial position of testee.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720216352.XU CN207457506U (en) | 2017-03-07 | 2017-03-07 | A kind of high-precision list laser beam 3 D locating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720216352.XU CN207457506U (en) | 2017-03-07 | 2017-03-07 | A kind of high-precision list laser beam 3 D locating device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207457506U true CN207457506U (en) | 2018-06-05 |
Family
ID=62245614
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720216352.XU Expired - Fee Related CN207457506U (en) | 2017-03-07 | 2017-03-07 | A kind of high-precision list laser beam 3 D locating device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207457506U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110186376A (en) * | 2019-06-18 | 2019-08-30 | 易视智瞳科技（深圳）有限公司 | A kind of three-dimensional position pick-up method and device |
-
2017
- 2017-03-07 CN CN201720216352.XU patent/CN207457506U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110186376A (en) * | 2019-06-18 | 2019-08-30 | 易视智瞳科技（深圳）有限公司 | A kind of three-dimensional position pick-up method and device |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180605 Termination date: 20190307 |
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| CF01 | Termination of patent right due to non-payment of annual fee |