阅读说明：本技术 一种激光辅助视觉实时位置测量装置及其测量方法 (Laser-assisted visual real-time position measuring device and measuring method thereof ) 是由 卢道华 王超 王恺 王佳 于 2019-10-16 设计创作，主要内容包括：本发明涉及一种激光辅助视觉实时位置测量装置,包括一测量底座,测量底座包括旋转上底座、固定下底座,在固定下底座的中部位置具有一向上伸出的旋转轴,该旋转轴由安装在固定下底座内的伺服电机驱动进行转动；安装在旋转上底座上的相机、激光测距仪、XY振镜机构及控制器,所述相机安装在旋转上底座的中部位置,激光测距仪与控制器分别位于相机的两侧,XY振镜机构安装在相机的上方；还涉及基于上述测量装置的测量方法。本发明的优点在于：本发明中的测量装置与测量方法,采用测量底座、相机、激光测距仪及XY振镜机构之间的配合即可实现对目标的距离与角度的测算,结构简单,成本低,且安装调试简单,对环境的适用性强。(The invention relates to a laser-assisted visual real-time position measuring device, which comprises a measuring base, wherein the measuring base comprises a rotary upper base and a fixed lower base, a rotary shaft extending upwards is arranged in the middle of the fixed lower base, and the rotary shaft is driven by a servo motor arranged in the fixed lower base to rotate; the device comprises a camera, a laser range finder, an XY galvanometer mechanism and a controller, wherein the camera is arranged on the rotary upper base, the laser range finder and the controller are respectively positioned on two sides of the camera, and the XY galvanometer mechanism is arranged above the camera; also relates to a measuring method based on the measuring device. The invention has the advantages that: the measuring device and the measuring method can realize the measurement and calculation of the distance and the angle of the target by adopting the cooperation of the measuring base, the camera, the laser range finder and the XY galvanometer mechanism, and have the advantages of simple structure, low cost, simple installation and debugging and strong applicability to the environment.)

1. The utility model provides a real-time position measurement device of laser-assisted vision which characterized in that: comprises that

The measuring base comprises a rotating upper base and a fixed lower base which are sequentially distributed from top to bottom, a rotating shaft which extends upwards is arranged in the middle of the fixed lower base, the rotating shaft is driven by a servo motor arranged in the fixed lower base to rotate, the top end of the rotating shaft is connected with the middle of the bottom end of the rotating upper base and drives the rotating upper base to freely rotate for 360 degrees, and a gap is reserved between the rotating upper base and the fixed lower base;

the device comprises a camera, a laser range finder, an XY galvanometer mechanism and a controller, wherein the camera is arranged on the rotary upper base, the laser range finder and the controller are respectively positioned on two sides of the camera, and the XY galvanometer mechanism is arranged above the camera;

the laser range finder comprises a base, a laser emitter arranged in the base and a reflector positioned above the laser emitter, wherein the reflector is arranged on a reflector mounting plate, the reflector mounting plate is connected with the base through a vertical plate, and the reflector is obliquely arranged;

the XY galvanometer mechanism comprises an inverted U-shaped galvanometer mounting seat, the galvanometer mounting seat is mounted on the outer side of the camera and covers the camera, an L-shaped galvanometer seat is mounted on the galvanometer mounting seat, an opening of the galvanometer seat faces a reflective mirror, two galvanometer plates which are distributed up and down are mounted on the galvanometer seat, the two galvanometer plates are driven by independent galvanometer motors mounted on the galvanometer seat to swing respectively, the output ends of the galvanometer motors are connected with the galvanometer plates through galvanometer rods, and the two galvanometer rods are distributed vertically;

and the controller transmits and controls information with two galvanometer motors of the servo motor, the camera, the laser range finder and the XY galvanometer mechanism which are fixed on the lower base through signals.

2. The laser-assisted vision real-time position measuring device of claim 1, characterized in that: the fixed lower base and the rotary upper base are both disc-shaped, and scales which correspond to each other one by one are further arranged on the upper side of the circumferential outer surface of the fixed lower base and the lower side of the circumferential outer surface of the rotary upper base.

3. The laser-assisted vision real-time position measuring device of claim 1, characterized in that: the connection between the reflector and the reflector mounting plate is as follows: the middle positions of two sides of the reflector are respectively provided with a mounting through hole, the mounting through holes penetrate through the reflector through a pin shaft to be fixed with the reflector mounting plate, the connection between the reflector and the reflector mounting plate is realized, a gap is reserved between the reflector and the reflector mounting plate, the reflector mounting plate is also provided with an adjusting bolt, and the adjusting bolt penetrates through the reflector mounting plate and then abuts against the upper side and the lower side of the upper end face of the reflector.

4. The laser-assisted vision real-time position measuring device of claim 1, characterized in that: the mirror motor that shakes, shake mirror pole and shake and be connected between the mirror seat: the vibrating mirror base is provided with a through groove for the vibrating mirror rod to pass through and move up and down, the vibrating mirror motor is fixed on the outer side of the vibrating mirror base through a screw, the output end of the vibrating mirror motor is connected with the vibrating mirror rod, and the vibrating mirror rod passes through the through groove on the vibrating mirror base and then is connected with the vibrating mirror plate.

5. A measuring method based on the laser-assisted vision real-time position measuring device of claim 1, characterized in that: the method comprises the following steps:

a) preparation before use: firstly, a camera and an XY galvanometer mechanism are calibrated in a combined mode, so that image pixels acquired by the camera correspond to control signals of the XY galvanometer mechanism, and then all equipment and a controller are initialized;

b) primary detection of a target: starting a camera, rotating an upper base to start rotating at a constant speed and in a fixed direction, and detecting images in a field of view by the camera aiming at a specific target;

c) target tracking: after the camera detects the target, the camera transmits a signal to the controller, and the controller controls the servo motor to work, so that the rotating upper base is controlled to rotate along the motion direction of the target, the target is tracked, and meanwhile, the coordinates of the pixel points of the mass center image of the target are output to the controller in real time;

d) measuring and calculating the target distance: the controller controls the XY galvanometer mechanism to change a laser light path of the laser range finder by utilizing the calibration information according to the transmitted pixel coordinates, so that the laser light path irradiates on a target to realize distance measurement, and then a target angle is calculated according to a servo motor coded signal and a XY galvanometer mechanism galvanometer motor coded signal;

e) outputting the target distance: the controller outputs the relative distance and angle information of the target through a wireless communication protocol.

Technical Field

The invention relates to a real-time tracking and positioning device, in particular to a laser-assisted visual real-time position measuring device and a measuring method based on the measuring device.

Background

The unmanned equipment mostly depends on the camera and the laser radar to realize autonomous cruising, and mainly utilizes the two-dimensional image analysis capability of the camera and the three-dimensional depth perception capability of the laser radar. The camera has a small visual field, blind areas are easy to appear when objects such as pedestrians are tracked, or a multi-camera switching tracking program needs to be designed, the difficulty is high, the cost is high, and meanwhile, the camera has large errors in depth information and is easily influenced by ambient light; most of the laser radars are one-dimensional information, and the multi-line laser radars are expensive and cannot be popularized at present.

For a conventional RGB-D camera, the precision within 5m can be controlled within 10cm, but the RGB-D camera cannot obtain relatively accurate distance information when an unmanned ship and the like need to be tracked remotely, and meanwhile, the interference of an external light source is more prone to be caused due to the fact that an infrared structure light distance principle is adopted.

Therefore, there is a need for a lightweight, low-cost apparatus that can achieve wide-angle, wide-range, real-time, high-precision target position measurement.

Disclosure of Invention

The invention aims to provide a laser-assisted visual real-time position measuring device and a measuring method based on the measuring device.

In order to solve the technical problems, the technical scheme of the invention is as follows: the utility model provides a real-time position measuring device of laser-assisted vision, its innovation point lies in: comprises that

The measuring base comprises a rotating upper base and a fixed lower base which are sequentially distributed from top to bottom, a rotating shaft which extends upwards is arranged in the middle of the fixed lower base, the rotating shaft is driven by a servo motor arranged in the fixed lower base to rotate, the top end of the rotating shaft is connected with the middle of the bottom end of the rotating upper base and drives the rotating upper base to freely rotate for 360 degrees, and a gap is reserved between the rotating upper base and the fixed lower base;

the device comprises a camera, a laser range finder, an XY galvanometer mechanism and a controller, wherein the camera is arranged on the rotary upper base, the laser range finder and the controller are respectively positioned on two sides of the camera, and the XY galvanometer mechanism is arranged above the camera;

the laser range finder comprises a base, a laser emitter arranged in the base and a reflector positioned above the laser emitter, wherein the reflector is arranged on a reflector mounting plate, the reflector mounting plate is connected with the base through a vertical plate, and the reflector is obliquely arranged;

the XY galvanometer mechanism comprises an inverted U-shaped galvanometer mounting seat, the galvanometer mounting seat is mounted on the outer side of the camera and covers the camera, an L-shaped galvanometer seat is mounted on the galvanometer mounting seat, an opening of the galvanometer seat faces a reflective mirror, two galvanometer plates which are distributed up and down are mounted on the galvanometer seat, the two galvanometer plates are driven by independent galvanometer motors mounted on the galvanometer seat to swing respectively, the output ends of the galvanometer motors are connected with the galvanometer plates through galvanometer rods, and the two galvanometer rods are distributed vertically;

and the controller transmits and controls information with two galvanometer motors of the servo motor, the camera, the laser range finder and the XY galvanometer mechanism which are fixed on the lower base through signals.

Further, fixed lower base, rotatory upper base all are discoid, and still are provided with the scale of one-to-one correspondence at the upside of fixed lower base circumference surface and the downside of rotatory upper base circumference surface.

Further, the connection between the reflector and the reflector mounting plate is as follows: the middle positions of two sides of the reflector are respectively provided with a mounting through hole, the mounting through holes penetrate through the reflector through a pin shaft to be fixed with the reflector mounting plate, the connection between the reflector and the reflector mounting plate is realized, a gap is reserved between the reflector and the reflector mounting plate, the reflector mounting plate is also provided with an adjusting bolt, and the adjusting bolt penetrates through the reflector mounting plate and then abuts against the upper side and the lower side of the upper end face of the reflector.

Further, the mirror vibration motor, the mirror vibration rod and the mirror vibration seat are connected as follows: the vibrating mirror base is provided with a through groove for the vibrating mirror rod to pass through and move up and down, the vibrating mirror motor is fixed on the outer side of the vibrating mirror base through a screw, the output end of the vibrating mirror motor is connected with the vibrating mirror rod, and the vibrating mirror rod passes through the through groove on the vibrating mirror base and then is connected with the vibrating mirror plate.

A measuring method based on the laser-assisted vision real-time position measuring device is characterized by comprising the following steps: the method comprises the following steps:

a) preparation before use: firstly, a camera and an XY galvanometer mechanism are calibrated in a combined mode, so that image pixels acquired by the camera correspond to control signals of the XY galvanometer mechanism, and then all equipment and a controller are initialized;

b) primary detection of a target: starting a camera, rotating an upper base to start rotating at a constant speed and in a fixed direction, and detecting images in a field of view by the camera aiming at a specific target;

c) target tracking: after the camera detects the target, the camera transmits a signal to the controller, and the controller controls the servo motor to work, so that the rotating upper base is controlled to rotate along the motion direction of the target, the target is tracked, and meanwhile, the coordinates of the pixel points of the mass center image of the target are output to the controller in real time;

d) measuring and calculating the target distance: the controller controls the XY galvanometer mechanism to change a laser light path of the laser range finder by utilizing the calibration information according to the transmitted pixel coordinates, so that the laser light path irradiates on a target to realize distance measurement, and then a target angle is calculated according to a servo motor coded signal and a XY galvanometer mechanism galvanometer motor coded signal;

e) outputting the target distance: the controller outputs the relative distance and angle information of the target through a wireless communication protocol.

The invention has the advantages that: the measuring device and the measuring method can realize the measurement and calculation of the distance and the angle of the target by adopting the cooperation of the measuring base, the camera, the laser range finder and the XY galvanometer mechanism, and have the advantages of simple structure, low cost, simple installation and debugging and strong applicability to the environment.

The design of the fixed lower base and the rotary upper base adopts the design of a disc-shaped structural shape and the matching of scales, so that the whole device can be conveniently manually reset to zero during initialization, and the target angle can be manually calculated according to different main direction angles during working.

And the reflector is installed by adopting the matching of the adjusting bolt, so that the fine adjustment of the inclination angle of the reflector can be realized, and the universality is stronger.

The invention can realize large-range and wide-angle real-time target tracking, has higher remote precision than similar products, and has great application prospect on unmanned equipment.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

FIG. 1 is a schematic diagram of a laser-assisted visual real-time position measuring device according to the present invention.

FIG. 2 is a front view of the laser assisted vision real time position measuring device of the present invention.

Fig. 3 is a flow chart of the measurement method of the present invention.

Detailed Description

The following examples are presented to enable one of ordinary skill in the art to more fully understand the present invention and are not intended to limit the scope of the embodiments described herein.

A laser-assisted visual real-time position measuring device as shown in fig. 1 and 2 comprises

The measuring base comprises a rotating upper base 12 and a fixed lower base 11 which are sequentially distributed from top to bottom, a rotating shaft 14 which extends upwards is arranged in the middle of the fixed lower base 11, the rotating shaft 14 is driven by a servo motor arranged in the fixed lower base 11 to rotate, the top end of the rotating shaft 14 is connected with the middle of the bottom end of the rotating upper base 12 and drives the rotating upper base 12 to rotate freely by 360 degrees, and a gap is reserved between the rotating upper base 12 and the fixed lower base 11.

The fixed lower base 11 and the rotary upper base 12 are both disc-shaped, and the scales 15 corresponding to each other are arranged on the upper side of the circumferential outer surface of the fixed lower base 11 and the lower side of the circumferential outer surface of the rotary upper base 12. For the design of the fixed lower base 11 and the rotary upper base 12, the design of a disc-shaped structure shape and the matching of scales are adopted, so that the whole device can be conveniently reset to zero manually during initialization, and the target angle can be manually calculated according to different main direction angles during working.

The bottom of fixed lower base 11 is installed on a fixing base 13, and it has the mounting hole to open on fixing base 13, and through the cooperation of fixing base 13, can carry out MEMS transformation back to whole measuring device, imbed whole measuring device in other equipment with the module form.

Install camera 3, laser range finder, XY galvanometer mechanism and controller 2 on rotatory base 12, camera 3 installs the middle part position at rotatory base 12, laser range finder and controller 2 are located the both sides of camera 3 respectively, XY galvanometer mechanism installs the top at camera 3, still have on rotatory base 12 with camera 3, laser range finder, XY galvanometer mechanism and controller 2 looks one-to-one's installation round pin shaft hole to conveniently realize the high accuracy location installation of each part.

In the present embodiment, the camera 3 may employ a general single lens reflex camera.

The laser range finder comprises a base 41, a laser emitter 42 arranged in the base 41 and a reflector 43 positioned above the laser emitter 42, wherein the reflector 43 is arranged on a reflector mounting plate 44, the reflector mounting plate 44 is connected with the base 41 through a vertical plate 45, and the reflector 43 is obliquely arranged and gradually inclines downwards from one side of the reflector 43 close to the XY galvanometer mechanism, so that laser emitted by the laser emitter 42 can be irradiated to the XY galvanometer mechanism through the reflector 43.

The connection between the mirror 43 and the mirror mounting plate 44 is: the middle positions of two sides of the reflector 43 are respectively provided with a mounting through hole, the mounting through holes penetrate through the through holes on the reflector 43 through pin shafts and then are fixed with the reflector mounting plate 44, so that the connection between the reflector 43 and the reflector mounting plate 44 is realized, a gap is reserved between the reflector 43 and the reflector mounting plate 44, the reflector mounting plate 44 is also provided with adjusting bolts, the adjusting bolts penetrate through the reflector mounting plate 44 and then abut against the upper side and the lower side of the upper end surface of the reflector 43, and the adjusting bolts are in threaded fit with the reflector mounting plate 44. For the installation of the reflector 43, the fine adjustment of the inclination angle of the reflector 43 can be realized by adopting the matching of the adjusting bolt, and the universality is stronger.

The XY galvanometer mechanism comprises an inverted U-shaped galvanometer mounting seat 51, two sides of the bottom end of the galvanometer mounting seat 51 are also provided with a flanging structure which extends vertically and outwards, the fixation between the galvanometer mounting seat 51 and the rotary upper base 12 is facilitated through the matching of the flanging structure, the galvanometer mounting seat is fixed with the rotary upper base 12 after passing through the flanging structure through a screw or a bolt, thereby, the fixation of the galvanometer mount 51 is realized, the galvanometer mount 51 is installed outside the camera 2 and covers the camera 2, an L-shaped galvanometer holder 52 is mounted on the galvanometer mounting base 51, and the opening of the galvanometer holder 52 faces the reflective mirror 43, two vibrating mirror plates 53 which are distributed up and down are arranged on the vibrating mirror base 52, the two vibrating mirror plates 53 are driven by independent vibrating mirror motors 54 arranged on the vibrating mirror base 52 to swing respectively, the output ends of the vibrating mirror motors 54 are connected with the vibrating mirror plates 53 through vibrating mirror rods 55, and the two vibrating mirror rods 55 are distributed vertically.

The connections between the galvanometer motor 54, the galvanometer rod 55 and the galvanometer base 52 are as follows: the galvanometer base 52 is provided with a through groove which is penetrated by a galvanometer rod 55 and moves up and down, the galvanometer motor 54 is fixed on the outer side of the galvanometer base 52 through a screw, the output end of the galvanometer motor 54 is connected with the galvanometer rod 55, and the galvanometer rod 55 is connected with the galvanometer plate 53 after penetrating through the through groove on the galvanometer base 52.

The controller 2 and the servo motor on the fixed lower base 11, the camera 3, the laser range finder and the two galvanometer motors 54 in the XY galvanometer mechanism are in information transmission and control through signals, so that a control cycle is formed. In this embodiment, a rechargeable lithium battery may be integrated inside the controller 2 for power supply, so that the target position information measurement result is transmitted through a wireless signal without external power supply.

As can be seen from the schematic diagram shown in fig. 3, the measurement method of the present invention is implemented by the following steps:

first, preparation before use: firstly, the camera 3 and the XY galvanometer mechanism are jointly calibrated to realize that image pixels acquired by the camera 3 correspond to control signals of the XY galvanometer mechanism, and then all the equipment and the controller are initialized.

Secondly, primary detection of the target: the camera 3 is started, meanwhile, the servo motor starts to work, the rotary upper base 12 is driven to rotate at a constant speed and in a constant direction, and the camera 3 detects images in a visual field aiming at a specific target by utilizing a target tracking algorithm.

Step three, target tracking: after the camera 3 detects the target, the camera 3 transmits a signal to the controller 2, and the controller 2 controls the servo motor to work, so that the rotary upper base 12 is controlled to rotate along the motion direction of the target, the target is tracked, and meanwhile, the coordinates of the pixel points of the mass center image of the target are output to the controller 2 in real time.

Fourthly, measuring and calculating the target distance: the controller 2 controls the XY galvanometer mechanism to change the laser light path of the laser distance meter according to the transmitted pixel coordinates by using the calibration information, so that the laser distance meter irradiates on a target to realize the measurement of the distance, and then calculates the target angle according to the servo motor coded signal and the XY galvanometer mechanism galvanometer motor coded signal.

And fifthly, outputting the target distance: the controller 2 outputs the target relative distance and angle information through a wireless communication protocol using a coordinate conversion algorithm.

The measuring device and the measuring method can realize the measurement and calculation of the distance and the angle of the target by adopting the cooperation of the measuring base, the camera, the laser range finder and the XY galvanometer mechanism, and have the advantages of simple structure, low cost, simple installation and debugging and strong applicability to the environment.

It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.