laser projection point coordinate measuring device and measuring method thereof
阅读说明：本技术 一种激光投射点坐标测量装置及其测量方法 (laser projection point coordinate measuring device and measuring method thereof ) 是由 李锦上 田洪现 王文林 王春进 王飙 于 2019-10-21 设计创作，主要内容包括：本发明一种激光投射点坐标测量装置及其测量方法,属于激光投射点坐标测量技术领域；所要解决的技术问题为：提供一种激光投射点坐标测量装置硬件结构及其测量方法的改进；解决该技术问题采用的技术方案为：包括封装在壳体内的激光信号接收单元和激光信号扫描单元,所述激光信号接收单元的正面用于接收激光发射器发出的激光线束,所述激光线束照射在激光信号接收单元的壳体上形成激光照射点,所述激光信号接收单元的背面连接有激光信号扫描单元；所述激光信号扫描单元的信号输出端通过导线与微控制器相连,所述微控制器的信号输入端与贴片编码器相连,所述微控制器的信号输出端与数据存储模块相连,本发明应用于激光投射点坐标测量装置。(The invention relates to an laser projection point coordinate measuring device and a measuring method thereof, belonging to the technical field of laser projection point coordinate measuring, and aiming at solving the technical problems of providing laser projection point coordinate measuring device hardware structures and the improvement of the measuring method thereof, wherein the technical scheme adopted for solving the technical problems is that the device comprises a laser signal receiving unit and a laser signal scanning unit which are packaged in a shell, the front surface of the laser signal receiving unit is used for receiving laser beams emitted by a laser emitter, the laser beams irradiate on the shell of the laser signal receiving unit to form laser irradiation points, the back surface of the laser signal receiving unit is connected with the laser signal scanning unit, the signal output end of the laser signal scanning unit is connected with a microcontroller through a lead, the signal input end of the microcontroller is connected with a patch encoder, and the signal output end of the microcontroller is connected with a data storage module.)
The laser projection point coordinate measuring device is characterized by comprising a laser signal receiving unit (1) and a laser signal scanning unit (2) which are packaged in a shell, wherein the front surface of the laser signal receiving unit (1) is used for receiving a laser line beam emitted by a laser emitter, the laser line beam irradiates on the shell of the laser signal receiving unit (1) to form a laser irradiation point, and the back surface of the laser signal receiving unit (1) is connected with the laser signal scanning unit (2);
the signal output end of the laser signal scanning unit (2) is connected with the microcontroller (3) through a wire, the signal input end of the microcontroller (3) is connected with the patch encoder (4), the signal output end of the microcontroller (3) is connected with the data storage module (5), the microcontroller (3) is also connected with the data communication module (6) in a bidirectional mode through a wire, and the data communication module (6) is connected with the monitoring computer (7) through an RS485 communication bus;
and the power supply input end of the microcontroller (3) is connected with the power supply module (8).
2. The kinds of laser projection point coordinate measuring devices of claim 1, wherein the laser signal receiving unit (1) is an array of photodiodes of type B1701 PT-H9C-000114;
the chips used in the laser signal scanning unit (2) are a 74HC595D control chip and a CD4051B control chip;
the chip used in the microcontroller (3) is a control chip U1, and the model of the control chip U1 is STM32F103C8T 6;
the type of the patch encoder (4) is CD10 RMOSB;
the chip used in the data communication module (6) is a communication chip U2, and the model of the communication chip U2 is MAX 3485;
the chip used in the power module (8) is a voltage stabilizing chip U3, and the model of the voltage stabilizing chip U3 is LM 1117.
3. The kinds of laser projection point coordinate measuring devices of claim 2, wherein the circuit structure of the microcontroller (3) is:
the 5 pin of the control chip U1 is connected with the end of the crystal oscillator XT1 and then connected with the end of the capacitor C6, the 6 pin of the control chip U1 is connected with the other end of the crystal oscillator XT1 and then connected with the end of the capacitor C8, the other end of the capacitor C6 is connected with the other end of the capacitor C8 and the end of the capacitor C7 and then connected with the ground;
the pin 7 of the control chip U1 is connected with the other end of the capacitor C7 in parallel, the end of the resistor R48 is connected with the reset switch SW3, and the other end of the resistor R48 is connected with a 3.3V input power supply;
pins 9, 24, 36 and 48 of the control chip U1 are connected with a 3.3V input power supply;
2 pins, 3 pins and 4 pins of the control chip U1 are all connected with the patch encoder (4), and 25 pins, 26 pins, 27 pins and 28 pins of the control chip U1 are all connected with the patch encoder (4);
the pins 21, 22 and 46 of the control chip U1 are all connected with a data communication module (6);
the pins 10, 11, 12, 13, 14, 18, 19, 20, 29, 30, 31, 32, 33, 39, 40, 41, 42 and 43 of the control chip U1 are all connected with the laser signal scanning unit (2).
4. The kind of laser projection point coordinate measuring device of claim 3, wherein the circuit structure of the data communication module (6) is:
the pin 1 of the communication chip U2 is connected with the pin 22 of the control chip U1;
the 2 pin of the communication chip U2 is connected with the 3 pin of the communication chip U2 in parallel and then is connected with the 46 pin of the control chip U1;
the pin 4 of the communication chip U2 is connected with the pin 21 of the control chip U1;
the pin 5 of the communication chip U2 is grounded;
the pin 6 of the communication chip U2 is connected with the end of the resistor R50 in parallel, and the end of the resistor R51 is connected with the end of the adjustable resistor PTC 2;
the pin 7 of the communication chip U2 is connected with the other end of the resistor R50 in parallel, and the end of the resistor R49 is connected with the end of the adjustable resistor PTC 1;
the other end of the resistor R51 is connected with a 3.3V input power supply, and the other end of the resistor R49 is connected with the ground;
the other ends of the adjustable resistor PTC1 and the adjustable resistor PTC2 are connected with a data output port CN 2.
5. The kind of laser projection point coordinate measuring device of claim 4, wherein the circuit structure of the power supply module (8) is:
the pin 3 of the voltage stabilizing chip U3 is connected with the end of the capacitor C2, the end of the capacitor C1 and the cathode of the voltage stabilizing diode TVS1 in parallel and then connected with the power input end CN 1;
the 2 pins of the voltage stabilizing chip U3 are connected with the end of the capacitor C3 in parallel, and the end of the capacitor C4 is connected with a 3.3V input power supply in back;
the pin 1 of the voltage stabilizing chip U3 is connected in parallel with the anode of the voltage stabilizing diode TVS1, the other end of the capacitor C1, the other end of the capacitor C2, the other end of the capacitor C3, and the other end of the capacitor C4, and then grounded.
6, kinds of laser projection point coordinate measuring method, characterized by including the following steps:
step , vertically arranging a laser signal receiving unit (1) in a laser projection measuring area, arranging a laser emitter right in front of the laser signal receiving unit (1), and enabling laser beams emitted by the laser emitter to strike on the laser signal receiving unit (1);
step two: the laser signal scanning unit (2) performs matrix scanning circulation operation on the row number and the column number of the photosensitive diode connected with the laser signal receiving unit (1), and sends scanning signals to the data storage module (5) for storage;
step three: the microcontroller (3) performs image processing on the scanning signal, and specifically comprises the following steps: the laser signal is subjected to binarization processing, converted into coordinate data through characteristic extraction operation, and finally the coordinate data of the laser spot is stored in a data storage module (8);
and fourthly, uploading the obtained coordinate data of the laser point to a monitoring computer (7) through a data communication module (6) by the microcontroller (3) for further steps of analysis and processing.
Technical Field
The invention discloses laser projection point coordinate measuring devices and measuring methods thereof, and belongs to the technical field of laser projection point coordinate measuring.
Background
With the development of science and technology, the continuous improvement of technology, the automation and the intellectualization of equipment in intelligent mines, military shooting training and shooting games have become inevitable trends, and a laser target is used as modern measuring equipment to be applied in fields.
The laser target pose measurement is a combined measurement method which utilizes a laser target to be matched with measuring instruments such as a total station or a laser tracker to complete measurement in a whole space.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to solve the technical problem of providing hardware structures of the laser projection point coordinate measuring device and improvement of the measuring method thereof.
kinds of laser projection point coordinate measuring devices, including laser signal receiving unit and laser signal scanning unit encapsulated in body, the front of the said laser signal receiving unit is used for receiving the laser line beam that the laser launcher sends, the said laser line beam irradiates and forms the laser radiation point on the body of the laser signal receiving unit, the back of the said laser signal receiving unit connects with the laser signal scanning unit;
the signal output end of the laser signal scanning unit is connected with a microcontroller through a wire, the signal input end of the microcontroller is connected with a patch encoder, the signal output end of the microcontroller is connected with a data storage module, the microcontroller is also connected with a data communication module in a bidirectional mode through a wire, and the data communication module is connected with a monitoring computer through an RS485 communication bus;
and the power supply input end of the microcontroller is connected with the power supply module.
The laser signal receiving unit is specifically an array formed by photosensitive diodes, and the types of the photosensitive diodes are B1701 PT-H9C-000114;
the chips used in the laser signal scanning unit are a 74HC595D control chip and a CD4051B control chip;
the chip used in the microcontroller is a control chip U1, and the model of the control chip U1 is STM32F103C8T 6;
the type of the patch encoder is CD10 RMOSB;
the chip used in the data communication module is a communication chip U2, and the model of the communication chip U2 is MAX 3485;
the chip used in the power module is a voltage stabilizing chip U3, and the model of the voltage stabilizing chip U3 is LM 1117.
The circuit structure of the microcontroller is as follows:
the 5 pin of the control chip U1 is connected with the end of the crystal oscillator XT1 and then connected with the end of the capacitor C6, the 6 pin of the control chip U1 is connected with the other end of the crystal oscillator XT1 and then connected with the end of the capacitor C8, the other end of the capacitor C6 is connected with the other end of the capacitor C8 and the end of the capacitor C7 and then connected with the ground;
the
the
the
The circuit structure of the data communication module is as follows:
the
the 2 pin of the communication chip U2 is connected with the 3 pin of the communication chip U2 in parallel and then is connected with the 46 pin of the control chip U1;
the
the
the
the
the other end of the resistor R51 is connected with a 3.3V input power supply, and the other end of the resistor R49 is connected with the ground;
the other ends of the adjustable resistor PTC1 and the adjustable resistor PTC2 are connected with a data
The circuit structure of the power supply module is as follows:
the
the 2 pins of the voltage stabilizing chip U3 are connected with the end of the capacitor C3 in parallel, and the end of the capacitor C4 is connected with a 3.3V input power supply in back;
the
A method for measuring coordinates of laser projection points, comprising the following steps:
step , vertically arranging a laser signal receiving unit in a laser projection measuring area, arranging a laser emitter right in front of the laser signal receiving unit, and enabling laser beams emitted by the laser emitter to strike the laser signal receiving unit;
step two: the laser signal scanning unit performs matrix scanning circulation operation on the row number and the column number of the photosensitive diode connected with the laser signal receiving unit and sends scanning signals to the data storage module for storage;
step three: the microcontroller performs image processing on the scanning signal, specifically: performing binarization processing on the laser signal, converting the laser signal into coordinate data through feature extraction operation, and finally storing the coordinate data of the laser spot in a data storage module;
and fourthly, the microcontroller uploads the obtained coordinate data of the laser point to a monitoring computer through a data communication module for analysis and processing in step .
Compared with the prior art, the laser projection point coordinate measuring device has the advantages that due to the fact that the laser measuring points are used, the laser projection point coordinate measuring device is good in anti-interference performance to light in a use environment and high in measuring accuracy, the special laser signal receiving units are arranged, coordinates of a plurality of laser points can be identified and measured at the same time, the whole device is simple in structure and reliable to install and use, the photosensitive tube arrays for collecting signals in a scanning mode are adopted, manufacturing cost is low, the laser signal receiving units in the device can be spliced into the laser targets with different sizes, installation and use are more flexible, the microcontroller can be used for detecting the laser emitting points with different wavelengths by matching with the patch encoder, measurement and calculation of the coordinates of the laser emitting points are achieved through the microcontroller, further the underground mechanical pose is calculated, and -wide application space is achieved.
Drawings
The invention is further described with reference to the following drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of a circuit module according to the present invention;
FIG. 3 is a schematic circuit diagram of a laser signal receiving unit according to the present invention;
FIG. 4 is a schematic circuit diagram of a laser signal scanning unit according to the present invention;
FIG. 5 is a schematic circuit diagram of a microcontroller according to the present invention;
FIG. 6 is a circuit schematic of the data communication module of the present invention;
FIG. 7 is a circuit schematic of the power module of the present invention;
FIG. 8 is a flowchart illustrating the steps of the laser projection point coordinate measuring method of the present invention;
in the figure: the system comprises a laser
Detailed Description
As shown in fig. 1 to 8, laser projection point coordinate measuring devices of the invention comprise a laser signal receiving unit (1) and a laser signal scanning unit (2) which are enclosed in a housing, wherein the front of the laser signal receiving unit (1) is used for receiving a laser line beam emitted by a laser emitter, the laser line beam irradiates on the housing of the laser signal receiving unit (1) to form a laser irradiation point, and the back of the laser signal receiving unit (1) is connected with the laser signal scanning unit (2);
the signal output end of the laser signal scanning unit (2) is connected with the microcontroller (3) through a wire, the signal input end of the microcontroller (3) is connected with the patch encoder (4), the signal output end of the microcontroller (3) is connected with the data storage module (5), the microcontroller (3) is also connected with the data communication module (6) in a bidirectional mode through a wire, and the data communication module (6) is connected with the monitoring computer (7) through an RS485 communication bus;
and the power supply input end of the microcontroller (3) is connected with the power supply module (8).
The laser signal receiving unit (1) is specifically an array formed by photosensitive diodes, and the types of the photosensitive diodes are B1701 PT-H9C-000114;
the chips used in the laser signal scanning unit (2) are a 74HC595D control chip and a CD4051B control chip;
the chip used in the microcontroller (3) is a control chip U1, and the model of the control chip U1 is STM32F103C8T 6;
the type of the patch encoder (4) is CD10 RMOSB;
the chip used in the data communication module (6) is a communication chip U2, and the model of the communication chip U2 is MAX 3485;
the chip used in the power module (8) is a voltage stabilizing chip U3, and the model of the voltage stabilizing chip U3 is LM 1117.
The circuit structure of the microcontroller (3) is as follows:
the 5 pin of the control chip U1 is connected with the end of the crystal oscillator XT1 and then connected with the end of the capacitor C6, the 6 pin of the control chip U1 is connected with the other end of the crystal oscillator XT1 and then connected with the end of the capacitor C8, the other end of the capacitor C6 is connected with the other end of the capacitor C8 and the end of the capacitor C7 and then connected with the ground;
the
pins 9, 24, 36 and 48 of the control chip U1 are connected with a 3.3V input power supply;
2 pins, 3 pins and 4 pins of the control chip U1 are all connected with the patch encoder (4), and 25 pins, 26 pins, 27 pins and 28 pins of the control chip U1 are all connected with the patch encoder (4);
the
the
The circuit structure of the data communication module (6) is as follows:
the
the 2 pin of the communication chip U2 is connected with the 3 pin of the communication chip U2 in parallel and then is connected with the 46 pin of the control chip U1;
the
the
the
the
the other end of the resistor R51 is connected with a 3.3V input power supply, and the other end of the resistor R49 is connected with the ground;
the other ends of the adjustable resistor PTC1 and the adjustable resistor PTC2 are connected with a data
The circuit structure of the power supply module (8) is as follows:
the
the 2 pins of the voltage stabilizing chip U3 are connected with the end of the capacitor C3 in parallel, and the end of the capacitor C4 is connected with a 3.3V input power supply in back;
the
A method for measuring coordinates of laser projection points, comprising the following steps:
step , vertically arranging a laser signal receiving unit (1) in a laser projection measuring area, arranging a laser emitter right in front of the laser signal receiving unit (1), and enabling laser beams emitted by the laser emitter to strike on the laser signal receiving unit (1);
step two: the laser signal scanning unit (2) performs matrix scanning circulation operation on the row number and the column number of the photosensitive diode connected with the laser signal receiving unit (1), and sends scanning signals to the data storage module (5) for storage;
step three: the microcontroller (3) performs image processing on the scanning signal, and specifically comprises the following steps: the laser signal is subjected to binarization processing, converted into coordinate data through characteristic extraction operation, and finally the coordinate data of the laser spot is stored in a data storage module (8);
and fourthly, uploading the obtained coordinate data of the laser point to a monitoring computer (7) through a data communication module (6) by the microcontroller (3) for further steps of analysis and processing.
The invention provides a laser projection point coordinate measuring device, relates to devices for measuring laser projection point coordinates, and is suitable for measuring the laser projection point coordinates in an environment without direct sunlight, so as to meet the application requirement of measuring the pose of engineering machinery.
As shown in fig. 1 and 2, the structure of the invention is schematically illustrated, when in use, the invention is suspended or vertically placed in a driving tunnel, a laser transmitter is arranged on the engineering machinery in front of the device, a laser beam is emitted and projected onto the device, and a light source of a laser irradiation point is detected by a photosensitive tube array of the measuring device and then is subjected to scanning acquisition, image synthesis, image processing, coordinate conversion and the like by an internal single chip microcomputer controller to obtain a corresponding laser projection point coordinate.
As shown in fig. 3, the schematic arrangement diagram of the photodiode arrays of the single laser scanning unit provided by the present invention is shown, the present device is formed by cascading a plurality of scanning units, and is spliced into large screens, each scanning unit is formed by 40 × 40 photodiode arrays, the size specification of each scanning unit is 20cm × 20cm, the pitch of each photodiode in the scanning unit is 0.5cm × 0.5cm, and the size of the measuring device provided by the present invention can freely combine the plurality of scanning units into different sizes and shapes according to the specific project requirements.
Each laser signal receiving unit arranged in the measuring device is composed of 8 × 8 photodiodes, as shown in the figure, a PHOTO NPN is a photodiode used by the device, the model is B1701PT-H9C-000114, and the device is designed and manufactured by macro alignment technology, the spectrum range received by the photodiode is 400nm-110nm, the peak sensitive spectrum is 940nm, and the collector photocurrent value is 0.1-2.0mA due to different illumination intensity and spectrum ranges.
When the laser spot receiving device is used, when a certain photosensitive diode receives illumination within a certain frequency spectrum range, the controller scans the voltage change of the diodes on ROW (ROW) and COLUMN (COLUMN) lines connected with the photosensitive diode according to different illumination intensities and different on-resistances of the diodes, and acquires the position of the laser spot receiving point according to the voltage difference.
As shown in fig. 4, each of the laser scanning units is composed of 5 × 5 receiving units, and in order to sequentially control scanning of each row and each column of the laser scanning units, 10 74HC595D control chips having shift registers for 8-bit serial input and serial output are provided in the corresponding receiving unit; and 5 CD 4051B.
As shown in fig. 5, which is a schematic diagram of a controller circuit of a single laser scanning unit, the main controller adopts a model STM32F103C8T6, and is configured to collect row and column voltages of the laser scanning unit in real time, and obtain position information of a photodiode where a laser projection point is located through processing and calculating voltage signals, so as to obtain coordinates of the laser projection point.
It should be noted that, regarding the specific structure of the present invention, the connection relationship between the modules of the present invention is determined and can be realized, except for the specific description in the embodiments, the specific connection relationship can bring the corresponding technical effect, and the types and connection manners of the components, modules, and specific components in the present invention, except for the specific description, belong to the prior art such as the published patent, the published journal paper, or the common knowledge, which can be obtained by the skilled in the art before the application date, and need not be described in detail, so that the technical scheme provided in the present case is clear, complete and realizable, and can reproduce or obtain the corresponding entity product according to the technical means.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
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