Installation and adjustment method of line laser measurement system and line laser measurement system

Abstract

The invention discloses an installation and adjustment method of a line laser measurement system and a line laser measurement system. The method obtains the first end point and the second end point of a laser line emitted by a line laser sensor, respectively scans the center of a center circle of a tower gauge platform to obtain the first precise point coordinates and the second precise point coordinates, calculates the swing angle information of the laser line according to the first precise point coordinates and the second precise point coordinates, and judges whether the swing angle information is within a preset accuracy range. If so, it indicates that the measurement system meets the preset requirements. Otherwise, the emission angle of the line laser sensor is adjusted according to the swing angle information, and the first precise point coordinates and the second precise point coordinates are re-acquired to calculate the swing angle information until the obtained swing angle information is within the preset accuracy range. The technical problems in the related art of large error and strong dependence on manual operation due to simple reliance on manual observation and adjustment of the swing angle of the laser line emitted by the line laser sensor are solved.

Description

Technical Field

[0001] The invention relates to the field of laser detection technology, and in particular to an installation and adjustment method of a line laser measurement system and a line laser measurement system. Background Art

[0002] The measurement system combining line laser and CCD camera has a wide range of applications in production and manufacturing inspection of semiconductors, microelectronics and printing equipment. It can quickly and relatively accurately measure whether the product to be tested meets the indicators required for production and manufacturing. In order to improve the measurement accuracy of the measurement system combining line laser sensor and CCD camera, it is necessary to adjust the deflection angle of the laser line emitted by the line laser sensor. If the deflection angle of the laser line is too large, it is necessary to adjust the installation position of the line laser sensor so that the parameter value of the object to be measured can be accurately measured during actual measurement. However, in the related art, the deflection angle of the laser line is usually observed, judged and adjusted by the naked eye. This method of adjusting the deflection angle of the laser line by completely relying on the judgment of the human eye often results in large errors.

[0003] Therefore, how to overcome the technical problem of large errors in judging and adjusting the deflection angle of the laser line by the human eye has become a difficult problem that technicians in this field need to face. Summary of the invention

[0004] The embodiment of the present invention proposes an installation and adjustment method of a line laser measurement system and a line laser measurement system, which are used to solve the technical problems in the related art that in a measurement system combining a line laser sensor and a CCD image, the deviation angle of the laser line emitted by the line laser sensor is subject to large errors and strong dependence on manual operation due to manual observation and adjustment.

[0005] In a first aspect, an embodiment of the present invention provides a method for installing and adjusting a measurement system combining a line laser sensor and a CCD camera, comprising:

[0006] Acquire the first and second endpoints of the laser line emitted by the line laser sensor to scan the center of the center circle of the tower gauge platform to obtain the first and second precise point coordinates;

[0007] Calculate the deflection angle information of the laser line according to the first precise point coordinates and the second precise point coordinates;

[0008] Determining whether the yaw angle information is within a preset accuracy range;

[0009] If so, it is determined that the installation accuracy of the measurement system meets the preset requirements;

[0010] Otherwise, after adjusting the emission angle of the line laser sensor according to the yaw angle information, the first precise point coordinates and the second precise point coordinates are reacquired and the yaw angle information is calculated until the yaw angle information is within the preset accuracy range.

[0011] The laser center position calibration method of the embodiment of the present invention has at least the following beneficial effects:

[0012] In an embodiment of the present invention, a method for installing and adjusting a measurement system combining a line laser sensor and a CCD image is disclosed. The method obtains the first end point and the second end point of a laser line emitted by the line laser sensor, respectively scans the center of a center circle of a tower gauge platform to obtain the first precise point coordinates and the second precise point coordinates, and then calculates the current yaw angle information of the laser line according to the first precise point coordinates and the second precise point coordinates, and determines whether the yaw angle information is within a preset accuracy range. If so, it indicates that the current accuracy of the measurement system meets the preset requirements. Otherwise, the emission angle of the line laser sensor is adaptively adjusted according to the yaw angle information, and the yaw angle information is calculated after the first precise point coordinates and the second precise point coordinates are re-acquired, until the obtained yaw angle information is within the preset accuracy range. The technical problems in the related art of large errors and strong dependence on manual operation due to simple reliance on manual observation and adjustment of the yaw angle of the laser line emitted by the line laser sensor are solved, and a method for installing and adjusting a measurement system combining a line laser sensor and a CCD image is provided, which is accurate and has low manual dependence.

[0013] According to some other embodiments of the present invention, the installation and adjustment method of the measurement system combining a line laser sensor and a CCD camera, the step of obtaining the first endpoint of the laser line emitted by the line laser sensor to scan the center of the center circle of the tower gauge platform to obtain the first precise point coordinates includes:

[0014] Obtain the coordinates of a first reference point of the center of the center circle of the tower gauge platform scanned by the first endpoint of the laser line;

[0015] According to the first reference point coordinates, the first precise point coordinates of the first endpoint of the laser line scanning the center of the central circle of the tower gauge platform are obtained.

[0016] According to some other embodiments of the present invention, the installation and adjustment method of the measurement system combining a line laser sensor and a CCD camera, the step of obtaining the second endpoint of the laser line emitted by the laser line sensor to scan the center of the center circle of the tower gauge platform to obtain the second precise point coordinates includes:

[0017] Obtain the coordinates of a second reference point of the center of the central circle of the tower gauge platform scanned by the second endpoint of the laser line;

[0018] According to the coordinates of the second reference point, a second precise point where the second endpoint of the laser line scans the center of the central circle of the tower gauge platform is obtained.

[0019] According to some other embodiments of the present invention, in the installation and adjustment method of the measurement system combining a line laser sensor and a CCD camera, the deflection angle information of the laser line is obtained according to the first precise point coordinates and the second precise point coordinates by calculating the following formula:

[0020] θ=ctan((y4-y3) / (x4-x3))

[0021] Among them, θ is the yaw angle information, y4 is the value of the second precise point coordinate on the Y axis, x4 is the value of the second precise point coordinate on the X axis, y3 is the value of the first precise point coordinate on the Y axis, and x3 is the value of the first precise point coordinate on the X axis.

[0022] According to some other embodiments of the present invention, the installation and adjustment method of the measurement system combining a line laser sensor and a CCD camera, the obtaining of the first reference point coordinates of the center of the center circle of the first endpoint scanning tower gauge platform of the laser line comprises:

[0023] The center coordinates P1 (x1, y1, z1) of the center circle of the tower gauge platform are obtained by a CCD camera;

[0024] Move the center position of the laser line to a position within a preset range from the circle center coordinate P1 (x1, y1, z1) and where the laser height reading is 0;

[0025] Scanning a first point set on a first line segment with a first endpoint of the laser line to obtain first point set coordinates, and obtaining an X coordinate of a reference point where the first endpoint of the laser line scans the center of a central circle of the tower gauge platform according to the first point set coordinates;

[0026] Use the first endpoint of the laser line to scan the second point set on the second line segment to obtain the second point set coordinates, and obtain the Y coordinates of the reference point of the center of the central circle of the tower gauge platform scanned by the first endpoint of the laser line based on the second point set coordinates, and then obtain the first reference point coordinates P2 (x2, y2) of the center of the central circle of the tower gauge platform scanned by the first endpoint of the laser line.

[0027] According to some other embodiments of the present invention, the installation and adjustment method of the measurement system combining a line laser sensor and a CCD camera, the obtaining of the first precise point coordinates of the first endpoint of the laser line scanning the center of the center circle of the tower gauge platform comprises:

[0028] Taking the coordinates of the first reference point as the scanning center point of the first endpoint of the laser line, the first endpoint of the laser line is moved along the X-axis of the system coordinate system to scan the third point sets on the m third line segments respectively to obtain m groups of first laser measurement coordinates (xi, yi, zi);

[0029] The first end point of the laser line moves along the Y axis of the system coordinate system to scan the fourth point sets on the m fourth line segments respectively to obtain m groups of second laser measurement coordinates (xj, yj, zj);

[0030] Data calculation and processing are performed on the m groups of the first laser measurement coordinates (xi, yi, zi) and the m groups of the second laser measurement coordinates (xj, yj, zj) respectively to obtain the first precise point coordinates of the center of the center circle of the tower gauge platform scanned by the first endpoint of the laser line.

[0031] According to some other embodiments of the present invention, in the method for installing and adjusting a measurement system combining a line laser sensor and a CCD camera, obtaining the coordinates of a second reference point of the center of the center circle of the tower gauge platform scanned by the second endpoint of the laser line comprises:

[0032] Move the center position of the laser line to a position within a preset range of the circle center coordinates and where the laser height reading is 0;

[0033] Scanning a fifth point set on a fifth line segment with the second endpoint of the laser line to obtain coordinates of the fifth point set, and obtaining an X coordinate of a reference point where the second endpoint of the laser line scans the center of a central circle of the tower gauge platform according to the coordinates of the fifth point set;

[0034] Use the second endpoint of the laser line to scan the sixth point set on the sixth line segment to obtain the coordinates of the sixth point set, and obtain the Y coordinates of the reference point of the center of the central circle of the tower gauge platform scanned by the second endpoint of the laser line based on the coordinates of the sixth point set, and then obtain the second reference point coordinates P3 (x3, y3) of the center of the central circle of the tower gauge platform scanned by the second endpoint of the laser line.

[0035] According to some other embodiments of the present invention, the installation and adjustment method of the measurement system combining a line laser sensor and a CCD camera, the obtaining of the second precise point coordinates of the second endpoint of the laser line scanning the center of the center circle of the tower gauge platform comprises:

[0036] Taking the coordinates of the second reference point as the scanning center point of the second endpoint of the laser line, the second endpoint of the laser line moves along the X-axis of the system coordinate system to scan the seventh point sets on the m seventh line segments respectively to obtain m groups of third laser measurement coordinates;

[0037] The second end point of the laser line moves along the Y axis of the system coordinate system to scan the eighth point sets on the m eighth line segments to obtain m groups of fourth laser measurement coordinates;

[0038] Mathematical calculations are performed on the m groups of the third laser measurement coordinates and the m groups of the fourth laser measurement coordinates respectively to obtain the second precise coordinates of the center of the central circle of the tower gauge platform scanned by the second endpoint of the laser line.

[0039] According to some other embodiments of the present invention, the installation and adjustment method of the measurement system combining a line laser sensor and a CCD camera further includes:

[0040] Acquire the calibrated center position of the laser line according to the first precise point coordinates and the second precise point coordinates;

[0041] The offset between the calibrated center position of the laser line and the image center of the CCD camera is obtained according to the calibrated center position.

[0042] In a second aspect, an embodiment of the present invention provides a measurement system combining a line laser sensor and a CCD camera, comprising: a line laser sensor and a CCD camera;

[0043] Wherein, the parameter calibration of the measurement system is performed by using the laser center position calibration method as described in any one of claims 1 to 15. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a schematic structural diagram of a specific embodiment of a measurement system combining a line laser sensor and a CCD camera provided by the present application;

[0045] Figure 2 It is a flowchart of a specific embodiment of a method for installing and adjusting a measurement system combining a line laser sensor and a CCD camera provided by the present application;

[0046] Figure 3 It is a structural schematic diagram of a specific embodiment of the tower gauge platform provided by the present application;

[0047] Figure 4 is a schematic diagram of a specific embodiment of the first line segment provided by the present application;

[0048] Figure 5 is a schematic diagram of a specific embodiment of the second line segment provided by the present application;

[0049] Figure 6 It is a schematic diagram of a specific embodiment of the first center line and the first oblique line group intersecting on the XZ plane provided by the present application;

[0050] Figure 7It is a schematic diagram of a specific embodiment of the second center line and the second oblique line group intersecting on the YZ plane provided by the present application;

[0051] Figure 8 It is a schematic diagram of a specific embodiment provided by the present application, in which the first end point of the laser line respectively scans the third line segment and the fourth line segment with the coordinates of the first reference point as the scanning center point;

[0052] Fig. 9 It is a schematic diagram of a specific embodiment of the coordinate position relationship between the image circle obtained by the CCD camera provided in the present application and the first reference circle and the second reference circle. DETAILED DESCRIPTION

[0053] The following will clearly and completely describe the concept of the invention and the technical effects produced in combination with the embodiments, so as to fully understand the purpose, characteristics and effects of the invention. Obviously, the described embodiments are only part of the embodiments of the invention, not all of them. Based on the embodiments of the invention, other embodiments obtained by those skilled in the art without creative work are all within the scope of protection of the invention.

[0054] In the description of the embodiments of the present invention, if "several" is involved, it means more than one, if "multiple" is involved, it means more than two, if "greater than", "less than" or "exceed" is involved, it should be understood as not including the number itself, if "above", "below" or "within" is involved, it should be understood as including the number itself. If "first" or "second" is involved, it should be understood as being used to distinguish technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0055] Reference Figure 1 In the measurement system composed of the line laser sensor 100 and the CCD camera 200, since the laser line emitted by the line laser sensor 100 has a certain yaw angle, when the yaw angle is too large, it will affect the measurement accuracy of the measurement system. By obtaining the calibrated center position of the laser line, the yaw angle information of the laser line can be calculated. By adaptively adjusting the emission angle of the line laser sensor 100, the yaw angle of the laser line can be adjusted to a preset accuracy range, so that the measurement system composed of the line laser sensor 100 and the CCD camera 200 can perform accurate measurement.

[0056] Reference Figure 2 The embodiment of the present invention provides a method for installing and adjusting a measurement system combining a line laser sensor and a CCD camera, which comprises the following steps:

[0057] S100, obtaining first precise point coordinates and second precise point coordinates obtained by respectively scanning the center of a central circle of a tower gauge platform with a first endpoint and a second endpoint of a laser line emitted by a line laser sensor;

[0058] S200, calculating the deflection angle information of the laser line according to the first precise point coordinates and the second precise point coordinates;

[0059] S300, determining whether the yaw angle information is within a preset accuracy range;

[0060] If yes, it means that the installation accuracy of the measurement system meets the preset requirements, and the installation and adjustment process ends;

[0061] Otherwise, execute step S400.

[0062] S400, after adjusting the emission angle of the line laser sensor according to the yaw angle information, reacquire the first precise point coordinates and the second precise point coordinates and calculate the yaw angle information until the obtained yaw angle information is within a preset range of accuracy.

[0063] In this embodiment, the laser line is a measurement laser line emitted by a line laser sensor, the first endpoint of the laser line refers to an edge point in the laser line (for example, the leftmost endpoint of the laser line), and the second endpoint of the laser line refers to another edge point in the laser line (for example, the rightmost endpoint of the laser line). Figure 3 The tower gauge platform is a truncated cone-shaped standard workpiece, which is used to assist in parameter calibration of the measurement system combining a line laser sensor and a CCD camera after metrological detection. The center circle of the tower gauge platform represents the circle of its upper base. In this embodiment, the first end point and the second end point of the laser line are used to measure the center of the center circle of the tower gauge platform respectively, and the first precise point coordinates of the first end point of the laser line scanning the center of the center circle of the tower gauge platform and the second precise point coordinates of the second end point of the laser line scanning the center of the center circle of the tower gauge platform are obtained respectively. Then, the deflection angle information of the laser line is obtained according to the obtained first precise point coordinates and the second precise point coordinates. If it is determined that the deflection angle information is not within the preset accuracy range, the emission angle of the line laser sensor is adjusted, and the first precise point coordinates and the second precise point coordinates are re-obtained and the deflection angle information is calculated until the deflection angle information of the laser line is adjusted to the preset accuracy range; the technical problem in the related art that when measuring and adjusting the deflection angle of the laser line of the measurement system combining a line laser sensor and a CCD camera, the error is large and the manual operation dependence is strong due to the simple reliance on manual observation and adjustment of the deflection angle of the laser line emitted by the line laser sensor.

[0064] In some embodiments, in step S100, obtaining the first precise point coordinates of the center point of the center circle of the tower gauge platform scanned by the first endpoint of the laser line emitted by the laser sensor includes:

[0065] S110, obtaining the coordinates of the first reference point of the center of the central circle of the tower gauge platform scanned by the first endpoint of the laser line;

[0066] S120. According to the first reference point coordinates, obtain the first precise point coordinates of the center of the center circle of the tower gauge platform scanned by the first endpoint of the laser line.

[0067] In this embodiment, in order to obtain the first precise point coordinates of the center of the center circle of the tower gauge platform scanned by the first endpoint of the laser line, it is necessary to first obtain the rough coordinates of the center of the center circle of the tower gauge platform scanned by the first endpoint of the laser line (that is, the first reference point coordinates), and then obtain the first precise point coordinates based on the obtained rough coordinates.

[0068] Specifically, in some embodiments, obtaining the coordinates of the first reference point of the center of the central circle of the tower gauge platform scanned by the first endpoint of the laser line in step S110 specifically includes the following steps:

[0069] S111, obtaining the center coordinates P1 (x1, y1, z1) of the center circle of the tower gauge platform through a CCD camera;

[0070] In this step, after the CCD camera collects the image information of the tower gauge platform, the center coordinates P1 (x1, y1, z1) of the center circle of the tower gauge platform are obtained through the obtained image information.

[0071] S112, moving the center position of the laser line to a position within a preset range of the circle center coordinate P1 (x1, y1, z1) and where the laser height reading is 0;

[0072] In this step, the laser line emitted by the line laser sensor is moved and adjusted by the operator. The center position of the laser line is moved to a preset range of the circle center coordinate P1 (x1, y1, z1) after the operator makes a human eye judgment. The preset range can be set to a small circle (an imaginary circle, not an actual small circle) within a radius of 1 / 3 times the center of the center circle from the center position of the laser line to the center of the center circle. Obviously, the operator can easily achieve the movement of the center position of the laser line within a radius of 1 / 3 times the center of the center circle by human eye judgment. In this step, the laser height reading adjustment position of 0 must also be met at the same time, and the center circle center position P5 (x5, y5, z5) of the laser line measurement tower gauge platform at this time must be recorded to facilitate subsequent data calculation and processing.

[0073] S113, scanning a first point set on the first line segment with the first endpoint of the laser line to obtain first point set coordinates, and obtaining the X coordinate of a reference point of the center of the center circle of the tower gauge platform scanned by the first endpoint of the laser line according to the first point set coordinates;

[0074] In this step, the first endpoint of the laser line refers to the edge point at one end of the laser line, and the multiple points in the first point set on the first line segment are scanned respectively with this point to obtain the first point set coordinates of the laser measurement of the multiple points by the first endpoint of the laser line, and then the X coordinate of the reference point of the center circle of the center circle of the tower gauge platform scanned by the first endpoint of the laser line is obtained according to the first point set coordinates.

[0075] S114, after moving the line laser sensor to the position in step S112, scan the second point set on the second line segment with the first endpoint of the laser line to obtain the coordinates of the second point set, and obtain the Y coordinate of the reference point of the center of the center circle of the tower gauge platform scanned by the first endpoint of the laser line according to the coordinates of the second point set;

[0076] In this step, the first endpoint of the laser line is used to scan multiple points in the second point set on the second line segment respectively, and the second point set coordinates of the laser measurement of the multiple points by the first endpoint of the laser line are obtained. Then, the first endpoint of the laser line obtained according to the second point set coordinates scans the reference point Y coordinate of the center of the central circle of the tower gauge platform, thereby obtaining the first reference point coordinate P2 (x2, y2) obtained by scanning the center of the central circle of the tower gauge platform by the first endpoint of the laser line.

[0077] Reference Figure 4 In some embodiments, the first line segment is a line segment from the system coordinate point (x5+0.5L-1.5r, y5) in the system coordinate system to the system coordinate point (x5+0.5L+1.5r, y5), and the first point set is a set of points that divide the first line segment into equal intervals in the X-axis direction of the system coordinate system. Figure 5, the second line segment is a line segment from the system coordinate point (x5+0.5L, y5-1.5r) in the system coordinate system to the system coordinate point (x5+0.5L, y5+1.5r), and the second point set is a set of points that divide the second line segment into equal intervals in the Y-axis direction of the system coordinate system. In this embodiment, x5 and y5 are obtained from the center position P5 (x5, y5, z5) of the center circle of the tower gauge platform measured by the laser line recorded in the above embodiment, r is the radius value of the center circle of the tower gauge platform obtained by the CCD camera, and L is the length of the laser line. In this embodiment, by setting the first line segment as the line segment from the system coordinate point (x5+0.5L-1.5r, y5) to the system coordinate point (x5+0.5L+1.5r, y5), the starting point of the first line segment is located at one side of the conical surface of the projected image in the tower gauge platform's top-down direction and passes through a diameter of the center circle and then to the line segment on the other side of the conical surface. Similarly, the starting point of the second line segment is located at one side of the conical surface of the projected image in the tower gauge platform's top-down direction and passes through a diameter of the center circle and then to the line segment on the other side of the conical surface. In this embodiment, the first line segment and the second line segment are perpendicular to each other in the projected image in the tower gauge platform's top-down direction. In this embodiment, the start and end point settings of the first line segment and the second line segment are adapted to the installation direction of the laser line. In this embodiment, only the horizontal installation of the laser line is used as an example. However, it is obvious that when the laser line is installed in other directions, the center position of the laser line can also be calibrated by adapting and adjusting the start and end points of the first line segment and the second line segment.

[0078] Reference Figure 6 In some embodiments, after obtaining the first line segment, the first point set, the second line segment, and the second point set in the above embodiment, obtaining the X coordinate of the reference point of the center circle of the center of the tower gauge platform of the first endpoint of the laser line according to the coordinates of the first point set includes:

[0079] Each point in the first point set is measured in sequence by the first endpoint of the laser line to obtain the measurement coordinates of each point, i.e., the first point set coordinates. Since the first line segment is a line segment of a diameter running through the center circle of the tower gauge platform, and both ends of the line segment fall on the conical surface of the projection image in the overlooking direction of the tower gauge platform, all points on the conical surface in the first point set coordinates are fitted into a first oblique line group on the XZ plane of the system coordinate system, and all points on the center circle in the first point set coordinates are fitted into a first center line 110 on the XZ plane of the system coordinate system, wherein the first oblique line group includes line segment 111 and line segment 112, and the first intersection coordinates P11 and the second intersection coordinates P12 are obtained after the line segments 111 and 112 intersect with the first center line 110 on the XZ plane, respectively. The X value of the midpoint coordinates of the first intersection coordinates P11 and the second intersection coordinates P12 is the X coordinate of the reference point of the center of the center circle of the tower gauge platform scanned by the first endpoint of the laser line.

[0080] Reference Figure 7 In this embodiment, the Y coordinate of the reference point of the center circle of the center circle of the tower gauge platform of the first endpoint of the laser line is obtained according to the coordinates of the second point set, including:

[0081] Each point in the second point set is measured in sequence by the first end point of the laser line to obtain the laser measurement coordinates of each point, namely, the second point set coordinates. Since the second line segment is a line segment of a diameter of the center circle that passes through the center circle of the tower gauge platform, and both ends of the line segment fall on the conical surface of the projection image of the tower gauge platform in the overlooking direction, all points on the conical surface in the second point set coordinates are fitted into a second oblique line group on the YZ plane of the system coordinate system, and all points on the center circle of the second point set are fitted into a second center circle on the YZ plane of the system coordinate system. Center line 120, wherein the second oblique line group includes line segment 121 and line segment 122, then line segment 121 and line segment 122 respectively intersect with the second center line 120 on the YZ plane to obtain the third intersection coordinate P21 and the fourth intersection coordinate P22, thereby the Y value of the midpoint coordinate of the third intersection coordinate P21 and the fourth intersection coordinate P22, that is, the Y coordinate of the reference point of the center circle of the tower gauge platform scanned by the first endpoint of the laser line, and then the first reference coordinate P2 (x2, y2) of the center circle of the tower gauge platform scanned by the first endpoint of the laser line can be obtained.

[0082] In some embodiments, after obtaining the first reference coordinate P2 (x2, y2) of the center of the center circle of the tower gauge platform scanned by the first endpoint of the laser line in the above embodiment, obtaining the first precise point coordinate of the center of the center circle of the tower gauge platform scanned by the first endpoint of the laser line includes:

[0083] S121, taking the first reference point coordinate P2 (x2, y2) as the scanning center point of the first endpoint of the laser line, moving the first endpoint of the laser line along the X-axis of the system coordinate system, and scanning the third point sets on the m third line segments respectively to obtain m groups of first laser measurement coordinates (xi, yi, zi);

[0084] In this step, taking the first reference point coordinate P2 (x2, y2) as the scanning center of the first endpoint of the laser line means taking the first reference point coordinate P2 (x2, y2) as the center coordinate of the center circle of the scanning tower gauge platform of the first endpoint of the laser line.

[0085] S122, moving the first endpoint of the laser line along the Y axis of the system coordinate system, and scanning the fourth point sets on the m fourth line segments respectively to obtain m groups of second laser measurement coordinates (xj, yj, zj);

[0086] S123, performing mathematical calculations on the m groups of first laser measurement coordinates (xi, yi, zi) and the m groups of second laser measurement coordinates (xj, yj, zj) respectively to obtain the first precise point coordinates of the center of the center circle of the scanning tower gauge platform by the first endpoint of the laser line.

[0087] Reference Figure 8 In this embodiment, the third line segment is a straight line segment with a length of 3r, parallel to the X-axis of the system coordinate system, evenly spaced in the Y-axis direction of the system coordinate system, passing through the center circle of the tower gauge, and with both ends falling on the conical surface of the tower gauge platform. The third point set is a set of points that divide each third line segment into equal intervals in the X-axis direction of the system coordinate system; the fourth line segment is a straight line segment with a length of 3r, parallel to the Y-axis of the system coordinate system, evenly spaced in the X-axis direction of the system coordinate system, passing through the center circle of the tower gauge, and with both ends falling on the conical surface of the tower gauge platform. The third point set is a set of points that divide each third line segment into equal intervals in the Y-axis direction of the system coordinate system; in this embodiment, r is the radius value of the center circle of the tower gauge platform obtained by the CCD camera. The number of points for equally spaced division of the third line segment or the fourth line segment can be adapted to change, but it must be satisfied that the points on each line segment exist on both sides of the conical surface and on the center circle in the projected image in the top-down direction of the tower gauge platform.

[0088] In one embodiment, performing mathematical calculation processing on the m groups of first laser measurement coordinates (xi, yi, zi) includes:

[0089] The points on the conical surface of the top-view projection image of the tower gauge platform in each set of first laser measurement coordinates (xi, yi, zi) are fitted into a third oblique line group on the XZ plane of the system coordinate system by the least square method, and after completion, m sets of third oblique line groups are obtained, wherein each third oblique line group includes two line segments;

[0090] The points on the center circle of the top-view projection image of the tower gauge platform in each set of first laser measurement coordinates (xi, yi, zi) are fitted into the third center line by the least square method on the XZ plane of the system coordinate system. After completion, a total of m third center lines are obtained;

[0091] Since the m third center lines and the m groups of third oblique line groups correspond one to one, each third center line must intersect with two line segments of a group of third oblique line groups on the XZ plane of the system coordinate system. Therefore, a total of 2m intersection points of m groups of third oblique lines and m third center lines on the XZ plane of the system coordinate system are obtained.

[0092] Similarly, the mathematical calculation processing of the m sets of second laser measurement coordinates (xj, yj, zj) includes:

[0093] The points on the conical surface of the top-view projection image of the tower gauge platform in each set of second laser measurement coordinates (xj, yj, zj) are fitted into a fourth oblique line group on the YZ plane of the system coordinate system by the least squares method. After completion, a total of m fourth oblique line groups are obtained, wherein each fourth oblique line group includes two line segments;

[0094] The points on the center circle of the top-view projection image of the tower gauge platform in each set of second laser measurement coordinates (xj, yj, zj) are fitted into the fourth center line by the least square method on the YZ plane of the system coordinate system, and a total of m fourth center lines are obtained after completion;

[0095] Since the m fourth center lines and the m fourth oblique line groups correspond one to one, each fourth center line must intersect with two line segments of a group of fourth oblique line groups in the YZ plane, so a total of 2m intersection points of the m fourth oblique line groups and the m fourth center lines in the YZ plane are obtained.

[0096] In this embodiment, after obtaining 2m intersection points on the XZ plane and 2m intersection points on the YZ plane, the 2m intersection points on the XZ plane are converted into 2m intersection points on the XY plane according to the Y position of the laser line (the Y position of the laser line when scanning the third point set on the m third line segments respectively); the 2m intersection points on the YZ plane are converted into 2m intersection points on the XY plane according to the X position of the laser line (the X position of the laser line when scanning the fourth point set on the m fourth line segments respectively), and at this time, a total of 4m intersection points on the XY plane in the system coordinate system are obtained. The least squares method is used to fit the 4m intersection points on the XY plane into a first reference circle C1, and the center position of the first reference circle C1 is the first precise point coordinate of the center of the center circle of the tower gauge platform scanned by the first end point of the laser line.

[0097] In some embodiments, in step S100, obtaining the second precise point coordinates of the center point coordinates of the center circle of the tower gauge platform scanned by the second endpoint of the laser line emitted by the laser sensor includes:

[0098] S130, obtaining the coordinates of a second reference point of the center of the central circle of the tower gauge platform scanned by the second endpoint of the laser line;

[0099] S140. According to the second reference point coordinates, obtain the second precise point coordinates of the center of the central circle of the tower gauge platform scanned by the second endpoint of the laser line.

[0100] In this embodiment, in order to obtain the second precise point coordinates of the center of the center circle of the tower gauge platform scanned by the second endpoint of the laser line, it is necessary to first obtain the rough coordinates of the center of the center circle of the tower gauge platform scanned by the second endpoint of the laser line (that is, the second reference point coordinates), and then obtain the second precise point coordinates based on the obtained rough coordinates.

[0101] Specifically, in some embodiments, the coordinates of the second reference point of the center of the center circle of the tower gauge platform scanned by the second endpoint of the laser line include:

[0102] S131, restoring the center position of the laser line and the laser height reading to the state of step S102 in the above embodiment;

[0103] S132, scanning a fifth point set on the fifth line segment with the second endpoint of the laser line to obtain coordinates of the fifth point set, and obtaining the X coordinates of the reference point of the center of the central circle of the tower gauge platform scanned by the second endpoint of the laser line according to the coordinates of the fifth point set;

[0104] In this step, the second endpoint of the laser line refers to the endpoint of the other end of the laser line, which corresponds to the first endpoint of the laser line in step S110 in the above embodiment, and are respectively two edge points of the laser line.

[0105] S133. After adjusting the line laser sensor to the position of step S111, scan the sixth point set on the sixth line segment with the second endpoint of the laser line to obtain the coordinates of the sixth point set, and obtain the reference Y coordinate of the center of the central circle of the tower gauge platform scanned by the second endpoint of the laser line according to the coordinates of the sixth point set, and then obtain the second reference point coordinates P3 (x3, y3) of the center of the central circle of the tower gauge platform scanned by the second endpoint of the laser line.

[0106] In some embodiments, the fifth line segment is a line segment from the system coordinate point (x5-0.5L-1.5r, y5) in the system coordinate system to the system coordinate point (x5-0.5L+1.5r, y5), and the fifth point set is a set of points that divide the fifth line segment into equal intervals in the X-axis direction of the system coordinate system. The sixth line segment is a line segment from the system coordinate point (x5-0.5L, y5-1.5r) to the system coordinate point (x5-0.5L, y5+1.5r), and the sixth point set is a set of points that divide the sixth line segment into equal intervals in the Y-axis direction of the system coordinate system. In this embodiment, x5 and y5 are obtained from the center circle position P5 (x5, y5, z5) of the center circle of the tower gauge platform recorded by the laser line measurement in the above embodiment, r is the radius value of the center circle of the tower gauge platform obtained by the CCD camera, and L is the value of the length of the laser line. Similarly, with reference to the above embodiment, in this embodiment, the fifth line segment is set as the line segment from the system coordinate point (x5-0.5L-1.5r, y5) to the system coordinate point (x5-0.5L+1.5r, y5), and the sixth line segment is set as the line segment from the system coordinate point (x5-0.5L, y5-1.5r) to the system coordinate point (x5-0.5L, y5+1.5r), so that the starting point of the fifth line segment is on one side of the conical surface of the projected image in the direction of the tower gauge platform looking down, passes through a diameter of the center circle and then reaches the line segment on the other side of the conical surface; the starting point of the sixth line segment is on one side of the conical surface of the projected image in the direction of the tower gauge platform looking down, passes through a diameter of the center circle and then reaches the line segment on the other side of the conical surface, and in this embodiment, the fifth line segment and the sixth line segment are perpendicular to each other in the projected image in the direction of the tower gauge platform looking down.

[0107] In some embodiments, after the fifth line segment, the fifth point set, the sixth line segment and the sixth point set are acquired in the above embodiment, obtaining the X coordinate of the reference point of the center circle of the second endpoint scanning tower gauge platform of the laser line according to the coordinates of the fifth point set includes:

[0108] Each point in the fifth point set is measured in sequence by the second end point of the laser line to obtain the measurement coordinates of each point, namely, the fifth point set coordinates. Since the fifth line segment is a line segment of a diameter in the center circle of the tower gauge platform, and both ends of the line segment fall on the conical surface of the projection image in the overlooking direction of the tower gauge platform, all points on the conical surface in the fifth point set coordinates are fitted into a fifth oblique line group on the XZ plane of the system coordinate system, and all points on the center circle in the fifth point set coordinates are fitted into a fifth center line on the XZ plane of the system coordinate system, wherein the fifth oblique line group includes two line segments, and the two line segments intersect with the fifth center line on the XZ plane to obtain the fifth intersection coordinates and the sixth intersection coordinates, then the X value of the midpoint coordinates of the fifth intersection coordinates and the sixth intersection coordinates is the X coordinate of the reference point of the center of the center circle of the tower gauge platform scanned by the second end point of the laser line.

[0109] In addition, in this embodiment, the Y coordinate of the reference point of the center of the center circle of the tower gauge platform of the second end point of the laser line is obtained according to the coordinates of the sixth point set, including:

[0110] Each point in the sixth point set is measured in sequence by the second endpoint of the laser line to obtain the measurement coordinates of each point, i.e., the coordinates of the sixth point set. Since the sixth line segment is a line segment with a diameter running through the center circle of the tower gauge platform, and both ends of the line segment fall on the conical surface of the projection image of the tower gauge platform in the overlooking direction, all points on the conical surface in the coordinates of the sixth point set are fitted into a sixth oblique line group on the YZ plane of the system coordinate system, and all points on the center circle in the coordinates of the sixth point set are fitted into a sixth center line on the YZ plane of the system coordinate system, wherein the sixth oblique line group includes two line segments, and the two line segments intersect with the sixth center line on the YZ plane to obtain the seventh intersection coordinates and the eighth intersection coordinates, then the Y value of the midpoint coordinates of the seventh intersection coordinates and the eighth intersection coordinates is the Y coordinate of the reference point of the center of the center circle of the tower gauge platform scanned by the second endpoint of the laser line, and then the second reference point coordinates P3 (x3, y3) of the center of the center circle of the tower gauge platform scanned by the second endpoint of the laser line can be obtained.

[0111] In some embodiments, after obtaining the second reference point coordinates P3 (x3, y3) of the center of the center circle of the tower gauge platform scanned by the second endpoint of the laser line through the above embodiment, obtaining the second precise point coordinates of the center of the center circle of the tower gauge platform scanned by the second endpoint of the laser line includes:

[0112] S141, taking the second reference point coordinate P3 (x3, y3) as the scanning center of the second endpoint of the laser line, moving the second endpoint of the laser line along the X-axis of the system coordinate system, and scanning the seventh point sets on the m seventh line segments respectively to obtain m sets of third laser measurement coordinates (xq, yq, zq);

[0113] S142, moving the second end point of the laser line along the Y axis of the system coordinate system, and scanning the eighth point sets on the m eighth line segments respectively to obtain m groups of fourth laser measurement coordinates (xr, yr, zr);

[0114] S143, performing data calculation and processing on the m groups of third laser measurement coordinates (xq, yq, zq) and the m groups of fourth laser measurement coordinates (xr, yr, zr) respectively to obtain the second precise point coordinates of the center of the center circle of the second endpoint of the laser line scanning the tower gauge platform.

[0115] In some embodiments, the value of m in the above embodiments is related to the accuracy of subsequent calibration of the center position of the laser line. Generally, the larger the value of m is, the higher the accuracy of subsequent calibration of the center position of the laser line is. In this embodiment, the seventh line segment is a straight line segment with a length of 3r, parallel to the X-axis of the system coordinate system, evenly spaced in the Y-axis direction of the system coordinate system, passing through the center circle of the tower gauge, and with both ends falling on the conical surface of the tower gauge platform. The seventh point set is a set of points that divide each seventh line segment into equal intervals in the X-axis direction of the system coordinate system; the eighth line segment is a straight line segment with a length of 3r, parallel to the Y-axis of the system coordinate system, evenly spaced in the X-axis direction of the system coordinate system, passing through the center circle of the tower gauge, and with both ends falling on the conical surface of the tower gauge platform. The eighth point set is a set of points that divide each third line segment into equal intervals in the Y-axis direction of the system coordinate system; in this embodiment, r is the radius value of the center circle of the tower gauge platform obtained by the CCD camera, and the number of points for equally spaced division of the seventh line segment or the eighth line segment can be adapted to changes, but it must be satisfied that there are points on each line segment that fall on both sides of the conical surface and the center circle in the projected image in the overhead direction of the tower gauge platform.

[0116] In one embodiment, performing mathematical calculation processing on the m sets of third laser measurement coordinates (xq, yq, zq) includes:

[0117] The points on the conical surface of the top-view projection image of the tower gauge platform in each set of third laser measurement coordinates (xq, yq, zq) are fitted into the seventh oblique line group on the XZ plane of the system coordinate system by the least square method. After completion, a total of m seventh oblique line groups are obtained, wherein each oblique line group includes two line segments;

[0118] The points on the center circle of the top-view projection image of the tower gauge platform in each set of the third laser measurement coordinates (xq, yq, zq) are fitted into the seventh center line by the least square method on the XZ plane of the system coordinate system, and a total of m seventh center lines are obtained after completion;

[0119] Since there are one-to-one correspondences between the m seventh center lines and the m groups of seventh oblique line groups, each seventh center line must intersect with two line segments of a group of seventh oblique line groups on the XZ plane of the system coordinate system. Therefore, a total of 2m intersection points of the m groups of seventh oblique line groups and the m seventh center lines on the XZ plane of the system coordinate system are obtained.

[0120] Similarly, the mathematical calculation processing of the m groups of fourth laser measurement coordinates (xr, yr, zr) includes:

[0121] The points on the conical surface of the top-view projection image of the tower gauge platform in each set of fourth laser measurement coordinates (xr, yr, zr) are fitted into the eighth oblique line group on the YZ plane of the system coordinate system by the least square method. After completion, a total of m eighth oblique line groups are obtained, each of which includes two line segments;

[0122] The points on the center circle of the top-view projection image of the tower gauge platform in each set of fourth laser measurement coordinates (xr, yr, zr) are fitted into the eighth center line on the YZ plane of the system coordinate system by the least square method. After completion, a total of m eighth center lines are obtained;

[0123] Since there are one-to-one correspondences between m eighth center lines and m groups of eighth oblique line groups, each eighth center line must intersect with two line segments of a group of eighth oblique line groups on the YZ plane of the system coordinate system. Therefore, a total of 2m intersection points of m groups of eighth oblique line groups and m eighth center lines on the YZ plane of the system coordinate system are obtained.

[0124] In this embodiment, after obtaining 2m intersection points on the XZ plane and 2m intersection points on the YZ plane, the 2m intersection points on the XZ plane are converted into 2m intersection points on the XY plane according to the Y position of the laser line (the Y position of the laser line when scanning the seventh point set on the m seventh line segments respectively); the 2m intersection points on the YZ plane are converted into 2m intersection points on the XY plane according to the X position of the laser line (the X position of the laser line when scanning the eighth point set on the m eighth line segments respectively), and a total of 4m intersection points on the XY plane in the system coordinate system are obtained. The least square method is used to fit the 4m intersection points on the XY plane into a second reference circle C2, and the center position of the second reference circle C2 is the second precise point coordinate of the center of the center circle of the second end point scanning tower gauge platform of the laser line.

[0125] In the above embodiments, the process principle of obtaining the second reference point coordinates and the second precise point coordinates corresponds to the process principle of obtaining the first reference point coordinates and the first precise point coordinates in each embodiment.

[0126] Reference Fig. 9 In some embodiments, after obtaining the center coordinates P6 (x6, y6) of the first reference circle C1 and the center coordinates P7 (x7, y7) of the second reference circle C2 through the above embodiment, the deflection angle information of the laser line is obtained by the following formula:

[0127] θ=ctan((y7-y6) / (x7-x6)) (1)

[0128] Among them, θ is the yaw angle information of the laser line, the center coordinates P6 (x6, y6) of the first reference circle C1 are the first precise point coordinates obtained by scanning the center of the center circle of the tower gauge platform by the first end point of the laser line, and the center coordinates P7 (x7, y7) of the second reference circle C2 are the second precise point coordinates obtained by scanning the center of the center circle of the tower gauge platform by the second end point of the laser line. In this embodiment, after obtaining the yaw angle information of the laser line, it is determined whether the value of the yaw angle information is within the preset accuracy range. If so, it means that the measurement system combining the line laser sensor and the CCD camera meets the measurement accuracy requirements; otherwise, after adjusting the emission angle of the line laser sensor according to the yaw angle information, the first precise point coordinates and the second precise point coordinates are obtained again according to the methods described in the above embodiments, and the yaw angle information is calculated until the obtained yaw angle information is within the preset accuracy range.

[0129] Reference Fig. 9 In some embodiments, after obtaining the center coordinates of the first reference circle C1 and the second reference circle C2, the calibrated center position P4 (x4, y4) of the laser line can be obtained through the center coordinates of the first reference circle C1 and the second reference circle C2; ​​and the offset between the calibrated center position of the laser line and the image center of the CCD camera is obtained through the calibrated center position, so that when measuring, after measuring the coordinates of the object to be measured through the CCD camera image, the center position of the laser line is moved to the position through the offset between the calibrated center position of the laser line and the image center of the CCD camera for laser measurement. Among them, the calibrated center position P4 (x4, y4) is obtained by the following calculation formula:

[0130] x4=(x6+x7) / 2 (2)

[0131] y4=(y6+y7) / 2 (3)

[0132] Wherein, (x6, y6) are the coordinates of the center of the first reference circle C1 calculated in the above embodiment, and (x7, y7) are the coordinates of the center of the second reference circle C2 calculated in the above embodiment.

[0133] The offset between the laser line calibration center position and the image center of the CCD camera is calculated by the following formula:

[0134] Δx=x4-x1 (4)

[0135] Δy=y4-y1 (5)

[0136] Δz=z4-z1 (6)

[0137] Among them, x1, y1, z1 are obtained from the center coordinates P1 (x1, y1, z1) of the center circle of the tower gauge platform obtained by the CCD camera in the above embodiment. x4, y4 are the calibrated center position P4 (x4, y4) of the laser line. z4 = z5 + Lv, z5 and Lv are the position P5 (x5, y5, z5) obtained when the laser line measures the center position of the center circle of the tower gauge platform when executing step S112 in the above embodiment, and the laser value Lv of the center point of the laser line at this time.

[0138] Reference Figure 1 In the second aspect, an embodiment of the present invention provides a measurement system combining a line laser sensor and a CCD camera, which includes a line laser sensor 100 and a CCD camera 200. Among them, the installation and adjustment method of the emission angle of the laser line emitted by the line laser sensor 100 uses the installation and adjustment method described in any of the above embodiments to adjust the emission angle of the line laser sensor 100, so that the measurement accuracy of the measurement system combining the line laser sensor and the CCD camera is improved to meet the measurement requirements.

[0139] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the present invention. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. A method for installing and adjusting a measurement system combining a line laser sensor and a CCD camera, characterized in that: include: Acquire the first and second endpoints of the laser line emitted by the line laser sensor to scan the center of the center circle of the tower gauge platform to obtain the first and second precise point coordinates; Obtain the coordinates of the first reference point of the center of the center circle of the tower gauge platform scanned by the first endpoint of the laser line; According to the coordinates of the first reference point, obtaining the coordinates of the first precise point where the first endpoint of the laser line scans the center of the central circle of the tower gauge platform; Obtain the coordinates of a second reference point of the center circle of the tower gauge platform scanned by the second endpoint of the laser line; According to the coordinates of the second reference point, obtaining the coordinates of the second precise point where the second endpoint of the laser line scans the center of the central circle of the tower gauge platform; Wherein, obtaining the first reference point coordinates of the center of the center circle of the tower gauge platform scanned by the first endpoint of the laser line includes: obtaining the center coordinates P1 (x1, y1, z1) of the center circle of the tower gauge platform through a CCD camera; Move the center position of the laser line to within a preset range from the circle center coordinate P1 (x1, y1, z1), and the laser height reading is at 0; Scanning a first point set on a first line segment with the first endpoint of the laser line to obtain first point set coordinates, and obtaining the X coordinate of a reference point where the first endpoint of the laser line scans the center of the central circle of the tower gauge platform according to the first point set coordinates; the first line segment is a line segment from the system coordinate point (x5+0.5L-1.5r, y5) to the system coordinate point (x5+0.5L+1.5r, y5), the first point set is a set of n points that divide the first line segment into equal intervals, and the first line segment passes through a diameter of the central circle from one side of the conical surface of the projection image of the tower gauge platform and then to the conical surface on the other side; Scan the second point set on the second line segment with the first endpoint of the laser line to obtain the coordinates of the second point set, obtain the Y coordinates of the reference point where the first endpoint of the laser line scans the center of the central circle of the tower gauge platform according to the coordinates of the second point set, and then obtain the first reference point coordinates P2 (x2, y2) where the first endpoint of the laser line scans the center of the central circle of the tower gauge platform; the second line segment is a line segment from the system coordinate point (x5+0.5L, y5-1.5r) to the system coordinate point (x5+0.5L, y5+1.5r), the second point set is a set of n points divided into equal intervals by the second line segment, and the second line segment passes through a diameter of the central circle from one side of the conical surface of the projection image of the tower gauge platform to the other side of the conical surface; The step of obtaining the first precise point coordinates of the center of the center circle of the tower gauge platform scanned by the first endpoint of the laser line comprises: taking the first reference point coordinates as the scanning center point of the first endpoint of the laser line, moving the first endpoint of the laser line along the X-axis of the system coordinate system to scan the third point sets on the m third line segments respectively to obtain m groups of first laser measurement coordinates (xi, yi, zi); The first endpoint of the laser line moves along the Y axis of the system coordinate system to scan the fourth point set on the m fourth line segments to obtain m sets of second laser measurement coordinates (xj, yj, zj); Perform mathematical calculations on the m groups of the first laser measurement coordinates (xi, yi, zi) and the m groups of the second laser measurement coordinates (xj, yj, zj) respectively to obtain the first precise point coordinates of the center of the center circle of the tower gauge platform scanned by the first endpoint of the laser line; The third line segment is a straight line segment with a length of 3r, parallel to the X-axis of the system coordinate system, distributed at equal intervals in the Y-axis direction of the system coordinate system, passing through the central circle of the tower gauge platform, and with both ends falling on the conical surface of the tower gauge platform; The third point set is a set of points that divide each of the third line segments into equal intervals in the X-axis direction of the system coordinate system; The fourth line segment is a straight line segment with a length of 3r, parallel to the Y axis of the system coordinate system, distributed at equal intervals on the X axis of the system coordinate system, passing through the central circle of the tower gauge platform, and with both ends falling on the conical surface of the tower gauge platform; The fourth point set is a set of points that divide each of the fourth line segments into equal intervals in the Y-axis direction of the system coordinate system; The method of obtaining the coordinates of the second reference point of the center of the central circle of the tower gauge platform scanned by the second endpoint of the laser line includes: Move the center position of the laser line to a position within a preset range of the circle center coordinates P1 (x1, y1, z1) and where the laser height reading is 0; Scanning a fifth point set on a fifth line segment with the second endpoint of the laser line to obtain coordinates of the fifth point set, and obtaining an X coordinate of a reference point where the second endpoint of the laser line scans the center of a central circle of the tower gauge platform according to the coordinates of the fifth point set; Scanning a sixth point set on a sixth line segment with the second endpoint of the laser line to obtain the coordinates of the sixth point set, and obtaining the reference Y coordinate of the center of the central circle of the tower gauge platform scanned by the second endpoint of the laser line according to the coordinates of the sixth point set, thereby obtaining the second reference point coordinates P3 (x3, y3) of the center of the central circle of the tower gauge platform scanned by the second endpoint of the laser line; The fifth line segment is a line segment from the system coordinate point (x5-0.5L-1.5r, y5) to the system coordinate point (x5-0.5L+1.5r, y5), and the fifth point set is a set of n points obtained by equally dividing the fifth line segment. The fifth line segment passes through a diameter of the central circle from the conical surface on one side of the projection image of the tower gauge platform and then to the conical surface on the other side; The sixth line segment is a line segment from the system coordinate point (x5-0.5L, y5-1.5r) to the system coordinate point (x5-0.5L, y5+1.5r), the sixth point set is a set of n points that divide the sixth line segment into equal intervals, and the sixth line segment passes through a diameter of the central circle from the conical surface on one side of the projection image of the tower gauge platform and then to the conical surface on the other side; The step of obtaining the second precise point coordinates of the center of the center circle of the tower gauge platform scanned by the second endpoint of the laser line comprises: taking the second reference point coordinates as the scanning center point of the second endpoint of the laser line, the second endpoint of the laser line moves along the X-axis of the system coordinate system to respectively scan the seventh point set on the m seventh line segments to obtain m groups of third laser measurement coordinates (xq, yq, zq); The second end point of the laser line moves along the Y axis of the system coordinate system to scan the eighth point sets on the m eighth line segments respectively to obtain m groups of fourth laser measurement coordinates (xr, yr, zr); Performing mathematical calculations on the m groups of the third laser measurement coordinates (xq, yq, zq) and the m groups of the fourth laser measurement coordinates (xr, yr, zr) respectively to obtain the second precise coordinates of the center of the center circle of the tower gauge platform scanned by the second endpoint of the laser line; The seventh line segment is a straight line segment with a length of 3r, parallel to the X-axis of the system coordinate system, equally spaced on the Y-axis of the system coordinate system, passing through the central circle of the tower gauge platform, and with both ends falling on the conical surface of the tower gauge platform; The seventh point set is a set of points that divide each of the seventh line segments into equal intervals in the X-axis direction of the system coordinate system; The eighth line segment is a straight line segment of length 3r, parallel to the Y axis of the system coordinate system, equally spaced on the X axis of the system coordinate system, passing through the center circle of the tower gauge platform, and with both ends falling on the conical surface of the tower gauge platform; The eighth point set is a set of points that divide each eighth line segment into equally spaced points in the Y-axis direction of the system coordinate system; wherein L is the length of the laser line, r is the radius of the center circle of the tower gauge platform obtained by the CCD camera, and x5 and y5 are obtained from the center position P5 (x5, y5, z5) of the center circle of the tower gauge platform measured by the laser line when the laser height reading is at 0; Calculate the deflection angle information of the laser line according to the first precise point coordinates and the second precise point coordinates; Determining whether the yaw angle information is within a preset accuracy range; If so, it is determined that the installation accuracy of the measurement system meets the preset requirements; Otherwise, after adjusting the emission angle of the line laser sensor according to the yaw angle information, the first precise point coordinates and the second precise point coordinates are reacquired and the yaw angle information is calculated until the yaw angle information is within the preset accuracy range.

2. The installation and adjustment method of the measurement system combining a line laser sensor and a CCD camera according to claim 1 is characterized in that: The deflection angle information of the laser line is obtained according to the first precise point coordinates and the second precise point coordinates by calculating the following formula: in, is the yaw angle information, is the value of the coordinate of the second precise point on the Y axis, is the coordinate value of the second precise point on the X-axis, is the value of the coordinate of the first precise point on the Y axis, is the coordinate value of the first precise point on the X-axis.

3. The installation and adjustment method of the measurement system combining a line laser sensor and a CCD camera according to claim 2 is characterized in that: Also includes: Acquire the calibrated center position of the laser line according to the first precise point coordinates and the second precise point coordinates; The offset between the calibrated center position of the laser line and the image center of the CCD camera is obtained according to the calibrated center position.

4. A measurement system combining a line laser sensor and a CCD camera, characterized in that: It comprises a line laser sensor and a CCD camera; wherein, the adjustment method of the laser line emitted by the line laser sensor is installed and adjusted according to the installation and adjustment method according to any one of claims 1 to 3.

Images