Coordinate measurement system and method based on rotary laser scanning and computer equipment

Abstract

The invention discloses a coordinate measurement system and method based on rotary laser scanning and computer equipment. The coordinate measurement system comprises a pulse light source, a coordinate measurement module and a coordinate measurement module, the rotating device is used for enabling the light reflecting assembly to reflect the pulse laser to different directions in the rotating process; the reference detector is used for compensating the rotating angular velocity of the rotating device based on the received pulse laser; and the target detector is used for determining coordinates based on the received pulse laser. According to the scheme provided by the invention, the interference of the environment on the light path can be compensated by introducing a plurality of photoelectric detectors on the premise that a complex light path does not need to be carried, so that the measurement precision of the coordinate information is improved.

Description

Technical Field

[0001] The present application relates to the field of measurement technology, and in particular to a coordinate measurement system, method and computer equipment based on rotational laser scanning. Background Art

[0002] In the field of measurement, coordinate measurement is an important part. With the advancement of technology, the demand for coordinate measurement accuracy is getting higher and higher, especially in industrial environments. For example, in the coordinate measurement process at industrial sites, the coordinate measurement accuracy is particularly important.

[0003] At present, the more common coordinate measurement methods include laser trackers, indoor positioning (iGPS), workshop measurement and positioning systems (wMPS), etc. Among them, in order to improve the progress of coordinate measurement, it is currently proposed to use femtosecond optical combs as light sources and use the traceability of the pulse frequency of femtosecond optical combs in the time domain to improve the measurement accuracy of coordinates. However, in the above process, in some special industrial environments, such as special temperature and humidity, the propagation of the laser will be disturbed by the environment, resulting in the uniformly emitted laser pulses no longer being uniform at the measured object, making the measured data less than ideal. Usually, additional complex optical paths need to be built to compensate. Summary of the invention

[0004] In response to the above technical problems, the embodiments of the present application provide a coordinate measurement system, method and computer device based on rotational laser scanning, which aim to solve the problem of inaccurate measurement results caused by environmental influences in related coordinate measurement technologies.

[0005] In a first aspect, an embodiment of the present application provides a coordinate measurement system based on rotational laser scanning, comprising:

[0006] A pulse light source, used for emitting pulse laser at fixed time intervals;

[0007] A rotating device, wherein a reflective component is disposed on the rotating device, and during the rotation of the rotating device, the reflective component reflects the pulsed laser to different directions;

[0008] A plurality of photoelectric detectors, wherein the plurality of photoelectric detectors include: at least one target detector at a position to be measured and at least one reference detector at a preset position;

[0009] The reference detector is used to determine disturbance information of the pulse laser caused by the measurement environment based on the received pulse laser, so as to compensate the rotational angular velocity of the rotating device according to the disturbance information; and

[0010] The target detector is used to determine the coordinate information of the position to be measured relative to the rotating device based on the received pulse laser.

[0011] As a feasible embodiment of the present application, the pulse light source is a mode-locked laser source, and the pulse laser is a femtosecond optical frequency comb.

[0012] In a second aspect, an embodiment of the present application provides a coordinate measurement method based on rotational laser scanning, wherein the method performs coordinate measurement based on the coordinate measurement system as described above, and the method comprises the following steps:

[0013] Collect the first pulse number and first pulse time of the pulse laser emitted by the pulse light source detected by the target detector within a preset period

[0014] Determine the coordinate information of the position to be measured of the target detector relative to the rotating device based on the first pulse number and the first pulse time;

[0015] The method further comprises:

[0016] The second pulse quantity of the pulsed laser detected by the reference detector within a preset period is collected to determine disturbance information of the pulsed laser caused by the measurement environment according to the second pulse quantity, and the rotational angular velocity of the rotating device is compensated according to the disturbance information.

[0017] As a feasible embodiment of the present application, determining the coordinate information of the position to be measured of the target detector relative to the rotating device based on the first pulse number and the first pulse time includes:

[0018] Determine the distance information of the to-be-detected position of the target detector relative to the rotating device based on the first pulse quantity, the preset angular velocity of the rotating device, the preset pulse period of the pulse light source, and the detection width of the target detector;

[0019] Based on the time interval information of the first pulse time relative to the preset reference moment and the preset angular velocity of the rotating device, the angle information of the position to be measured of the target detector relative to the reference direction is determined, wherein the preset reference moment is the moment information when the reflective component reflects the pulse laser to the preset reference direction;

[0020] The coordinate information of the position to be measured where the target detector is located relative to the rotating device is determined according to the distance information and the angle information.

[0021] As a feasible embodiment of the present application, the determining of the distance information of the position to be measured of the target detector relative to the rotating device based on the first pulse number, the preset angular velocity of the rotating device, the preset pulse period of the pulse light source, and the detection width of the target detector includes:

[0022] determining a scanning angle of the target detector relative to the rotating device based on the first pulse quantity, a preset angular velocity of the rotating device, and a preset pulse period of the pulse light source;

[0023] The distance information of the to-be-detected position of the target detector relative to the rotating device is determined according to the scanning angle and the detection width of the target detector.

[0024] As a feasible embodiment of the present application, the distance information d of the position to be measured relative to the rotating device is determined by the following formula:

[0025] d = 2a / tan(θ / 2);

[0026] Wherein, a is the detection width of the target detector, θ is the detection angle of the target detector relative to the rotating device, and the calculation formula of the detection angle θ is as follows:

[0027] θ=N1ωΔt;

[0028] Wherein, N1 is the first pulse number, ω is the preset angular velocity of the rotating device, and Δt is the preset pulse period of the pulse light source.

[0029] As a feasible embodiment of the present application, determining the disturbance information of the pulse laser caused by the measurement environment according to the second pulse number includes:

[0030] determining a real-time angular velocity of the rotating device based on a preset distance of a reference detector relative to the rotating device, a detection width of the reference detector, and the second pulse number;

[0031] The disturbance information of the pulse laser caused by the measurement environment is determined according to the difference between the real-time angular velocity and the preset angular velocity.

[0032] As a feasible embodiment of the present application, when the detection width of the target detector is equal to the detection width of the reference detector, the method further includes:

[0033] Determining an estimated distance of the target detector relative to the rotating device based on the preset distance, the first pulse number, and the second pulse number;

[0034] After determining the distance information of the to-be-detected position of the target detector relative to the rotating device according to the detection angle and the detection width of the target detector, the method further includes:

[0035] Distance information determined by the detection angle and the detection width is verified based on the estimated distance.

[0036] As a feasible embodiment of the present application, the method further includes:

[0037] The disturbance information of the pulse laser caused by the measuring environment is stored in association with the temperature information of the measuring environment, so that when the target detector at the position to be measured detects the pulse laser, the rotational angular velocity of the rotating device can be compensated according to the real-time temperature information.

[0038] In a third aspect, an embodiment of the present application further provides a computer device, comprising a processor and a memory, wherein the memory stores a plurality of instructions; the processor loads instructions from the memory to execute the steps of coordinate measurement based on rotational laser scanning as described above.

[0039] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a plurality of instructions, wherein the instructions are suitable for a processor to load to execute the steps of coordinate measurement based on rotational laser scanning as described above.

[0040] In a fifth aspect, an embodiment of the present application further provides a computer program product, wherein the computer program product comprises a computer program, and the computer program is executed by a processor to perform the steps of coordinate measurement based on rotational laser scanning as described above.

[0041] The present application provides a coordinate measurement system based on rotating laser scanning, including a pulse light source that emits pulse lasers at fixed time intervals, a rotating device provided with a reflective component to reflect the pulse lasers to different directions during rotation, and a plurality of photodetectors, wherein at least one of the photodetectors is used to determine the disturbance information of the pulse lasers caused by the measurement environment based on the received pulse lasers, so as to compensate for the disturbance by feedback-adjusting the rotational angular velocity of the rotating device, so that another detector in the photodetector at the position to be measured can accurately measure and obtain its coordinate information relative to the rotating device based on the compensated and corrected pulse lasers. Through the coordinate measurement system and method provided by the present application, it is possible to improve the measurement accuracy of the coordinate information by introducing a plurality of photodetectors to compensate for the interference of the environment on the optical path without the need for a complex optical path. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0043] Figure 1a Schematic diagram of the calibration relationship between the refractive index and temperature obtained from experimental measurement;

[0044] Figure 1b This is a schematic diagram of the effect of the deviation value of the output angle under different incident angles obtained by experimental measurement;

[0045] Figure 2 A schematic diagram of the system structure of a coordinate measurement system based on rotational laser scanning provided in an embodiment of the present application;

[0046] Figure 3 A schematic diagram of the steps of a coordinate measurement method provided in an embodiment of the present application;

[0047] Figure 4 A schematic diagram of an effect of determining distance information of a target detector relative to a rotating device provided in an embodiment of the present application;

[0048] Figure 5 A schematic diagram of a flow chart of steps for determining a disturbance according to a second pulse provided in an embodiment of the present application;

[0049] Figure 6a A schematic diagram of a process flow for estimating a distance for verification provided in an embodiment of the present application;

[0050] Figure 6b A schematic diagram of the effect of estimating the distance based on a reference detector provided in an embodiment of the present application;

[0051] Figure 7 A schematic diagram of a process flow for determining coordinate information of a position to be measured provided in an embodiment of the present application;

[0052] Figure 8 A schematic diagram of the structure of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application. At the same time, in the description of the embodiments of the present application, the terms "first", "second", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more features. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0054] In order to better understand the coordinate measurement system and method based on rotating laser scanning provided by the present application, the relevant application background of coordinate measurement is first described in detail. Specifically, coordinate measurement, especially coordinate measurement in an industrial environment, often has a high accuracy of coordinate measurement, which usually determines the measurement accuracy of the industrial site. Among them, laser measurement has become the first choice for coordinate measurement due to its relatively superior measurement accuracy and real-time performance. For example, the more common methods include laser trackers, indoor positioning (iGPS), workshop measurement and positioning systems (wMPS), etc. In order to further improve the measurement accuracy of coordinates, in some schemes, the laser will choose to use a high-precision femtosecond light comb, that is, a pulse light with a pulse interval at the femtosecond level, that is, in the time domain, it is manifested as a series of ultra-short pulses with a time width at the femtosecond level, and in the frequency domain, it is manifested as a series of single chromatographic lines with equal frequency intervals, fixed positions, and extremely wide spectral ranges, so as to obtain a higher-precision optical frequency clock reference.

[0055] However, in actual practice, it is found that in some special industrial environments, such as special temperature and humidity or uneven air density or particle density, these environments will interfere with the propagation of light, for example, affecting the refractive index, so that the uniformly emitted laser pulses may no longer be uniform at the measured object, making the measured data accuracy less than ideal. Specifically, in order to facilitate the understanding of the above content, the refractive index and temperature are calibrated in an ideal space near the earth with a standard atmospheric pressure (1atm, P=101325Pa), a water vapor pressure of 0 (RH=0), and a wavelength of light λ=650nm. The relationship between the refractive index (Refraction, unit: ppm) and the temperature (Temperature, unit: ℃) is as follows: Figure 1aAs shown. Furthermore, after obtaining the fitted temperature field in the experimental process, the refractive index field is derived through the temperature field through the above relationship, and then the propagation of light is traced. The propagation trajectory of light can be determined by Fermat's principle, that is, light propagates along a path that is stable for the required time, which can be understood as the first-order derivative of the path propagation is zero. By solving the differential equation of the path propagation using the Runge-Kutta method and tracking the motion trajectory of light in the temperature field, the deviation between the actual exit angle and the ideal angle under different incident angles can be further determined. For details, please refer to Figure 1b , is the angular deviation (Angledeviation, unit: second") of the exit angle under different incident angles (Incident angle, unit: degree), that is, the deviation of the exit angle usually reaches tens of arc seconds. Therefore, taking temperature as an example, it is necessary to compensate for the environmental interference brought by temperature to the optical path measurement.

[0056] It is precisely in the application context of coordinate measurement provided above that this application provides a coordinate measurement system and method based on rotating laser scanning. Compared with building an additional complex optical path for compensation, this application introduces multiple photodetectors to compensate for the interference of the environment on the optical path, thereby improving the measurement accuracy of the coordinate information. Specifically, for easy understanding of the above content, please refer to Figure 2 , Figure 2 A schematic diagram of the system structure of a coordinate measurement system based on rotational laser scanning provided in an embodiment of the present application is described in detail as follows.

[0057] Specifically, the coordinate measurement system usually includes:

[0058] A pulse light source 201, wherein the pulse light source 201 is used to emit pulse laser at fixed time intervals;

[0059] A rotating device 202, wherein a reflective component 203 is disposed on the rotating device 202, and the rotating device 202 makes the reflective component 203 reflect the pulse laser to different directions during the rotation process;

[0060] A plurality of photoelectric detectors 204, wherein the plurality of photoelectric detectors 204 include: at least one target detector 2041 at a position to be measured and at least one reference detector 2042 at a preset position;

[0061] The reference detector 2042 is used to determine disturbance information of the pulse laser caused by the measurement environment based on the received pulse laser, so as to compensate the rotational angular velocity of the rotating device 202 according to the disturbance information;

[0062] The target detector 2041 is used to determine the coordinate information of the position to be measured relative to the rotating device based on the received pulsed laser, and in particular, refers to the coordinate value of the position of the target detector 2041 relative to the rotating device as the coordinate origin, that is, by arranging the target detector 2041 at the position to be measured in the measurement environment and arranging the rotating device 202 in the reference environment in the measurement environment, coordinate measurement in the measurement environment is achieved.

[0063] In an optional implementation, the pulse light source 201 may be a mode-locked laser source, wherein the pulse laser emitted by the pulse light source 201 is a femtosecond optical frequency comb, i.e., a pulse light with a pulse interval at the femtosecond level. Specifically, in the process of using a high-precision pulse light source, i.e., a mode-locked laser source, to measure the distance, it is particularly important to compensate for the interference of ambient light on laser propagation.

[0064] Furthermore, in an optional implementation, the rotating device 202 is a device that rotates based on a motor control, for example, the rotating device may be a turntable.

[0065] Further, in an optional implementation, the reflective component 203 may be a mirror component, such as a reflective mirror assembly or a prism assembly, etc. In particular, the reflective component 203 is usually disposed at the central axis of the rotating device 202 to evenly reflect the pulsed laser to different directions as the rotating device rotates.

[0066] Furthermore, in an optional implementation, the reflective component 203 reflects the pulsed laser to different directions in the same plane, and both the target detector and the reference detector are located in the reflection plane.

[0067] Furthermore, the coordinate measurement system may further include a plurality of different rotating devices or reflective components to reflect the pulsed laser into different planes in three-dimensional space, wherein photoelectric detectors may be provided in different planes, thereby more accurately realizing the measurement of the coordinates of the measured position in three-dimensional space, and the present application does not impose any limitation thereto.

[0068] Furthermore, in an optional implementation, the photodetector may convert the received pulse laser into an electrical signal to better count the received pulse laser and achieve coordinate measurement.

[0069] Furthermore, in an optional implementation, the reference detector and the target detector may use the same type of photodetector to ensure that the detection width of the received light signal is the same. Of course, the reference detector and the target detector may also use different types of photodetectors, that is, the present application does not impose specific restrictions on the detection width of the received light signal. In addition, in particular, the present application does not impose restrictions on the position of the reference detector relative to the rotating device, but in order to compensate for the interference of the environment on the light path propagation as accurately as possible, the position of the reference detector relative to the rotating device is usually required to be a known calibration value, that is, in the coordinate measurement system provided by the present application, the reference detector and the rotating device can be relatively fixed.

[0070] In addition, the structural diagram of the coordinate measurement system provided above is only a feasible implementation scheme, and is not intended to limit the coordinate measurement system provided by the present application. For example, in one or more embodiments, the coordinate measurement system may also include other components, such as the coordinate measurement system may also include more reflective components to build a more complex optical path. In addition, the coordinate measurement system may also include a controller to achieve control of the entire coordinate measurement system. For example, the controller may be a host computer or other digital or analog computing devices, single-chip microcomputers, etc., which may be computer software or dedicated hardware, and the present application does not limit it.

[0071] The present application provides a coordinate measurement system based on rotating laser scanning, including a pulse light source that emits pulse lasers at fixed time intervals, a rotating device provided with a reflective component to reflect the pulse lasers to different directions during rotation, and a plurality of photodetectors, wherein at least one of the photodetectors is used to determine the disturbance information of the pulse lasers caused by the measurement environment based on the received pulse lasers, so as to compensate for the disturbance by feedback-adjusting the rotational angular velocity of the rotating device, so that another detector in the photodetector at the position to be measured can accurately measure and obtain its coordinate information relative to the rotating device based on the compensated and corrected pulse lasers. The coordinate measurement system provided by the present application can improve the measurement accuracy of the coordinate information by introducing a plurality of photodetectors to compensate for the interference of the environment on the optical path without the need for a complex optical path.

[0072] On the basis of the coordinate measurement system based on rotating laser scanning provided above, the coordinate measurement method based on rotating laser scanning provided by the present application will be further specifically described below.

[0073] like Figure 3 As shown, Figure 3 A schematic flow chart of a coordinate measurement method provided in an embodiment of the present application, specifically, comprising steps S310 to S330:

[0074] S310, collecting the first pulse number and first pulse time of the pulse laser emitted by the pulse light source detected by the target detector within a preset period.

[0075] In the present application embodiment, the above Figure 2 Taking the distance measurement system provided as an example, it can be understood that when the rotating device rotates at a certain angular velocity, the target detector can detect the pulse laser emitted by the pulse light source only when the reflective component reflects the pulse laser to a direction within a certain range where the target detector is located, wherein the preset period here can generally be understood as the period of one rotation of the rotating device.

[0076] In addition to the first pulse number, the first pulse time of the pulsed laser received by the target detector may also be collected, so as to determine the offset angle of the position of the target detector by comparing with the reference pulse time.

[0077] S320: Determine coordinate information of the position to be measured of the target detector relative to the rotating device based on the first pulse number and the first pulse time.

[0078] In the embodiment of the present application, combined with the above-mentioned related description, it can be known that the first pulse number can be used to describe the distance information of the target detector's position relative to the rotating device, and the first pulse time can be used to assist in describing the coordinate information of the target detector's position relative to a certain reference direction of the rotating device. Therefore, based on these two pieces of information, the coordinate information of the position to be measured relative to the rotating device can be determined.

[0079] Further, determining the coordinate information of the position to be measured of the target detector relative to the rotating device based on the first pulse number and the first pulse time includes:

[0080] Determine the distance information of the to-be-detected position of the target detector relative to the rotating device based on the first pulse quantity, the preset angular velocity of the rotating device, the preset pulse period of the pulse light source, and the detection width of the target detector;

[0081] Based on the time interval information of the first pulse time relative to the preset reference moment and the preset angular velocity of the rotating device, the angle information of the position to be measured of the target detector relative to the reference direction is determined, wherein the preset reference moment is the moment information when the reflective component reflects the pulse laser to the preset reference direction;

[0082] The coordinate information of the position to be measured where the target detector is located relative to the rotating device is determined according to the distance information and the angle information.

[0083] In this embodiment, by collecting the number of first pulses of the pulse laser emitted by the pulse light source detected by the target detector within a preset period and combining it with other pre-set information, such as the preset angular velocity of the rotating device and the preset pulse period of the pulse light source, the detection width of the target detector relative to the detection angle of the rotating device can be determined, thereby further determining the distance information of the target detector's position to be measured relative to the rotating device in combination with the detection width of the target detector.

[0084] Specifically, that is to say, determining the distance information of the position to be measured where the target detector is located relative to the rotating device based on the first pulse number, the preset angular velocity of the rotating device, the preset pulse period of the pulse light source, and the detection width of the target detector includes:

[0085] determining a scanning angle of the target detector relative to the rotating device based on the first pulse quantity, a preset angular velocity of the rotating device, and a preset pulse period of the pulse light source;

[0086] The distance information of the to-be-detected position of the target detector relative to the rotating device is determined according to the scanning angle and the detection width of the target detector.

[0087] For more information, please refer to Figure 4 , Figure 4 A schematic diagram of the effect of determining the distance information of a target detector relative to a rotating device provided in an embodiment of the present application.

[0088] Wherein, taking N1 as the first pulse number, ω as the preset angular velocity of the rotating device, and Δt as the preset pulse period of the pulse light source as an example, at this time, the calculation formula of the detection angle θ is specifically as follows:

[0089] θ=N1ωΔt

[0090] On this basis, combined with Figure 4 It can be seen that the specific calculation formula for determining the distance information d of the position to be measured relative to the rotating device based on the detection angle θ and the detection width a of the target detector is:

[0091] d = a / 2tan(θ / 2).

[0092] It should be noted that when the distance between the measured position and the rotating device is far, that is, when d>>a, the detection angle θ is relatively small. Therefore, tan(θ / 2) can be approximately equal to θ / 2, thereby further simplifying the calculation to obtain d=a / θ.

[0093] S330, collecting the second pulse number of the pulsed laser detected by the reference detector within a preset period, determining the disturbance information of the measurement environment on the pulsed laser according to the second pulse number, and compensating the rotational angular velocity of the rotating device according to the disturbance information.

[0094] Combined with the above-mentioned related description, it can be known that the propagation of light is disturbed due to the interference of the environment, that is, the laser pulses uniformly emitted from the rotating device are no longer uniform at the target detector, that is, the laser pulses that the target detector can actually perceive will have a certain deviation. Therefore, in order to compensate for the above deviation, in the embodiment of the present application, the disturbance information of the pulse laser caused by the measurement environment can be determined based on the number of second pulses of the pulse laser detected by the calibrated reference detector, so as to reasonably use the disturbance information to appropriately compensate for the rotational angular velocity of the rotating device. The specific principle is detailed as follows:

[0095] It can be understood that, taking the frequency of the laser pulse as f (HZ) and the angular velocity of the rotating device as ω (rad / s) as an example, the resolution of the angle measurement of the complete system can be understood as the spacing angle of adjacent emitted pulses, that is, f / ω, and since the femtosecond pulse frequency of the pulse light source can be locked on the atomic clock, it can be traced back to the time reference. Therefore, the accuracy of the distance measurement provided by the present application depends on the accuracy of the spacing angle of the pulse. In which, ideally, the femtosecond pulses uniformly emitted from the turntable can be uniformly emitted near the position to be measured, but in actual situations, due to environmental interference, the pulses uniformly emitted from the turntable are no longer uniform at the position to be measured, so a full closed-loop feedback can be introduced to measure the actual pulse rotation speed, and feedback can be used to control the rotational angular velocity of the motor for compensation, that is, the disturbance information of the measurement environment on the pulse laser is determined according to the second pulse number, and the rotational angular velocity of the rotating device is compensated according to the disturbance information.

[0096] For details, please refer to Figure 5 , Figure 5 A schematic flow chart of a step of determining a disturbance according to a second pulse provided in an embodiment of the present application, specifically, comprising steps S510 to S520:

[0097] S510, determining a real-time angular velocity of the rotating device based on a preset distance of a reference detector relative to the rotating device, a detection width of the reference detector, and the second pulse quantity.

[0098] In the embodiment of the present application, combined with the above-mentioned relevant description, it can be known that the distance between the reference detector and the rotating device can usually be a pre-calibrated preset value. At this time, based on the preset distance between the reference detector and the rotating device, the detection width of the reference detector, and the number of second pulses received, the real-time angular velocity ω1 of the rotating device can be determined.

[0099] Specifically, it can be understood that based on the distance of the reference detector relative to the rotating device and the detection width of the reference detector, the detection angle θ1 of the reference detector relative to the rotating device can be determined, and then further combined with the calculation formula of the detection angle and the number of pulses, angular velocity and pulse period provided above, the real-time angular velocity ω1 of the laser emitted by the rotating device after being disturbed by the environment can be determined. Specifically, the calculation formula of the real-time angular velocity ω1 is:

[0100] ω1=θ1 / N2Δt

[0101] Wherein, θ1 is the detection angle of the reference detector relative to the rotating device, N2 is the second pulse number, and Δt is the preset pulse period of the pulse light source.

[0102] S520: Determine disturbance information of the pulse laser caused by the measurement environment according to the difference between the real-time angular velocity and the preset angular velocity.

[0103] In the embodiment of the present application, by calculating the difference between the real-time angular velocity ω1 and the preset angular velocity ω, the error of the laser scanning angular velocity generated by the laser actually emitted by the rotating device at the measured location due to environmental interference can be fitted to a certain extent, that is, the difference can reflect the disturbance information of the measurement environment on the pulse laser to a certain extent, so that the angular velocity of the rotating device can be corrected to a certain extent to compensate for the angular velocity error caused by environmental interference.

[0104] Specifically, in order to further understand the above content, the following will be described through a mathematical model, and the angular velocity of the laser scanning can be kept stable by making certain corrections to the angular velocity of the rotating device. The details are as follows.

[0105] First, the above process of correcting the angular velocity of the rotating device can be described using the following iterative formula:

[0106] x k+1 =(E n -R ac H R re )x k

[0107] Among them, x k is the angular velocity error between the real-time angular velocity determined after the kth correction and the preset angular velocity, and x k+1 is the angular velocity error between the real-time angular velocity determined after the k+1th correction and the preset angular velocity, where R re is the adjustment matrix of the actual angular velocity in the k+1th correction process, R acIndicates the precise relationship between the real-time angular velocity and the preset angular velocity. Usually, the measured angular velocity sequence is considered to be a one-dimensional array. Therefore, R re and R ac Usually a diagonal matrix. Where:

[0108]

[0109]

[0110] Among them, k1′~k n ′ is the actual adjustment factor of non-uniform speed in each correction process, and k1~k n is the accurate adjustment factor of the non-uniform speed in each correction process, so it can be determined:

[0111]

[0112] Taking the norm on both sides of the equation, we get

[0113]

[0114] Among them, e in the formula represents the relative accuracy level of speed control, and in order to maintain the convergence of the result, it is only necessary that e≤1. In other words, in the above process of correcting the angular velocity of the rotating device, the actual angular velocity of the laser scanning can be stably converged to the desired angular velocity, that is, the preset angular velocity after compensating for environmental interference.

[0115] In addition, in a further optional implementation scheme provided in the present application, the reference detector can be used not only to measure the disturbance information of the pulse laser by the measuring environment, so as to compensate the rotational angular velocity of the rotating device according to the disturbance information, but also to estimate the distance of the target detector relative to the rotating device based on the known calibration distance between the reference detector and the rotating device. In particular, when the target detector and the reference detector use the same photoelectric detector model, that is, the detection width is equal to the detection width of the reference detector, please refer to Figure 6a , Figure 6a A schematic diagram of a process flow of estimating a distance for verification provided in an embodiment of the present application, specifically, comprising steps S610 to S620:

[0116] S610: Determine an estimated distance of the target detector relative to the rotating device based on the preset distance, the first pulse number, and the second pulse number.

[0117] In the embodiment of the present application, when the distance between the reference detector and the rotating device is known and calibrated, the estimated distance between the target detector and the rotating device can also be determined based on the first pulse number and the second pulse number. Specifically, the aforementioned distance calculation formula is used as an example:

[0118]

[0119] It can be seen that when the detection width a is the same, the angular velocity of the rotating device remains unchanged, and the period of the pulse laser remains unchanged, the distance is usually inversely proportional to the number of pulses. For details, please refer to Figure 6b It can be seen that, taking PD1 as the target detector and PD2 as the reference detector as an example, at this time, the ratio of the distance from the target detector to the central axis of the rotating device to the distance from the reference detector to the central axis of the rotating device is negatively correlated with the number of pulses received by the target detector and the reference detector, that is,

[0120]

[0121] Wherein, d1 is the distance from the target detector to the central axis of the rotating device, d2 is the distance from the reference detector to the central axis of the rotating device, N1 and N2 are the first pulse number and the second pulse number detected by the target detector and the reference detector respectively, and by calculating the measurement resolution of the distance, it can be determined:

[0122]

[0123] By substituting the corresponding values ​​in the actual measurement environment, it can be determined that the measurement resolution is around micron level, which can be used to verify the measurement results to a certain extent.

[0124] S620: Verify distance information determined by the detection angle and the detection width based on the estimated distance.

[0125] In the embodiment of the present application, combined with the above-mentioned related description, it can be known that although the estimated distance determined based on the reference detector has an error of micron level, it can be used to verify the distance information determined by the auxiliary detection angle and the detection width. That is, by comparing the difference between the estimated distance and the distance information determined by the detection angle and the detection width, when the estimated distance differs greatly from the distance information, it can be considered that the measurement system may have an abnormal fault.

[0126] Specifically, in the embodiments of the present application, the coordinate information obtained by measurement is taken as a two-dimensional coordinate in a two-dimensional plane space, that is, the measurement position is in the plane of the laser reflected by the reflective component on the rotating device. For the coordinates in three-dimensional space, it can be further realized by introducing multiple reflected laser planes. The present application does not limit the implementation scheme in three-dimensional space.

[0127] For details, please refer to Figure 7 , Figure 7 A schematic flow chart of the steps for determining the coordinate information of a position to be measured provided in an embodiment of the present application is described in detail as follows.

[0128] S710, collecting time interval information of a target detector detecting a pulse laser emitted by a pulse light source relative to a preset reference time.

[0129] In an embodiment of the present application, the preset reference moment is the moment information when the reflective component reflects the pulsed laser to a preset reference direction, wherein the preset reference direction can be understood as a fixed direction determined by the rotating device during one rotation, and the direction can usually be understood as the direction of the coordinate axis in a spatial coordinate system constructed with the rotating device as the origin. As a common feasible implementation scheme, the defense line where a reference detector or other detectors are located can also be used as a reference direction.

[0130] S720, determining an offset angle of the target detector relative to the preset reference direction based on the time interval information and the preset angular velocity of the rotating device.

[0131] In the embodiment of the present application, it can be understood that the rotation angle of the target detector relative to the reference direction can be calculated in combination with the time interval information of the target detector detecting the pulse laser emitted by the pulse light source relative to the preset reference moment.

[0132] S730: Determine coordinate information of the position to be measured relative to the rotating device based on the offset angle and the distance information.

[0133] In the embodiment of the present application, based on the above-mentioned determination of the offset angle and distance information, the coordinate information of the position to be measured relative to the rotating device can be determined through further calculation. In particular, the embodiment of the present application is explained using two-dimensional coordinate information as an example, but it does not limit the coordinate measurement system provided by the present application to also realize coordinate detection in a three-dimensional space coordinate system.

[0134] In addition, it should be noted that, since the error of the scanning angular velocity at the measured position caused by the environmental disturbance is compensated by the reference detector during the distance measurement process, the possible error of the offset angle can also be effectively compensated in the above process of further determining the offset angle. That is, in the coordinate information measurement process provided in the embodiment of the present application, the distance and the offset angle are compensated through a unified measurement error. Compared with the related art that relies on the separate measurement of the distance and the offset angle in the process of realizing coordinate measurement, the above scheme further reduces the error of the coordinate information finally measured.

[0135] In addition, considering that it is determined through experiments that the temperature in the environment has the highest degree of interference with the laser scanning angle at the measured position, therefore, as another feasible implementation scheme of the present application, the disturbance information of the pulsed laser caused by the measurement environment can be associated with the temperature information of the measurement environment and stored, so as to compensate the rotational angular velocity of the rotating device directly according to the real-time temperature information during the subsequent distance measurement process.

[0136] The present embodiment provides a coordinate measurement method based on rotating laser scanning, including a pulse light source that emits pulse lasers at fixed time intervals, a rotating device provided with a reflective component to reflect the pulse lasers to different directions during rotation, and a plurality of photodetectors, wherein at least one of the photodetectors is used to determine the disturbance information of the pulse lasers caused by the measurement environment based on the received pulse lasers, so as to compensate for the disturbance by feedback-adjusting the rotational angular velocity of the rotating device, so that another detector in the photodetector at the position to be measured can accurately measure and obtain its coordinate information relative to the rotating device based on the compensated and corrected pulse lasers. The coordinate measurement method provided by the present application can improve the measurement accuracy of the coordinate information by introducing a plurality of photodetectors to compensate for the interference of the environment on the optical path without the need for a complex optical path.

[0137] In one embodiment, the present application further provides a computer device, wherein the computer device is taken as a terminal device as an example, and its internal structure diagram can be as follows: Figure 8As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface, the display unit and the input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a coordinate measurement method of rotating laser scanning is implemented. The display unit of the computer device is used to form a visually visible image, and can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer covered on the display screen, or a button, trackball or touchpad set on the computer device casing, or an external keyboard, touchpad or mouse, etc.

[0138] Those skilled in the art will understand that Figure 8 The structure shown is only a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0139] Based on the same inventive concept, an embodiment of the present application also provides a computer-readable storage medium, which may include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc.

[0140] Since the computer program stored in the computer-readable storage medium can execute any one of the coordinate measurement methods based on rotational laser scanning provided in the embodiments of the present application, the beneficial effects that can be achieved by any one of the coordinate measurement methods based on rotational laser scanning provided in the embodiments of the present application can be achieved. Please see the previous embodiments for details and will not be repeated here.

[0141] The present application provides a coordinate measurement system based on rotating laser scanning, including a pulse light source that emits pulse lasers at fixed time intervals, a rotating device provided with a reflective component to reflect the pulse lasers to different directions during rotation, and a plurality of photodetectors, wherein at least one of the photodetectors is used to determine the disturbance information of the pulse lasers caused by the measurement environment based on the received pulse lasers, so as to compensate for the disturbance by feedback-adjusting the rotational angular velocity of the rotating device, so that another detector in the photodetector at the position to be measured can accurately measure and obtain its coordinate information relative to the rotating device based on the compensated and corrected pulse lasers. Through the coordinate measurement system and method provided by the present application, it is possible to improve the measurement accuracy of the coordinate information by introducing a plurality of photodetectors to compensate for the interference of the environment on the optical path without the need for a complex optical path.

[0142] Based on the same inventive concept, the embodiment of the present application further provides a computer program product or a computer program, which includes a computer instruction, and the computer instruction is stored in a computer-readable storage medium. The processor of the computer device reads the computer instruction from the computer-readable storage medium, and the processor executes the computer instruction, so that the computer device executes the method provided in various optional implementations in the above embodiments.

[0143] It should be noted that the object data (including but not limited to user device information, user personal information, etc.) and conversation data involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data need to comply with relevant laws, regulations and standards of relevant countries and regions. A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods.

[0144] Any reference to the memory, database or other media used in the embodiments provided in the present application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (Re RAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0145] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but is not limited thereto.

[0146] In the above-mentioned computer device, computer-readable storage medium, and computer program product embodiments, the description of each embodiment has its own emphasis. For parts not described in detail in a certain embodiment, reference can be made to the relevant description of other embodiments. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process and beneficial effects of the above-mentioned computer-readable storage medium, computer program product, computer device and its corresponding units can refer to the description of the distance measurement method based on rotating laser scanning in the above embodiment, and will not be repeated here.

[0147] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0148] The above is a detailed introduction to a coordinate measurement system, method and computer device based on rotating laser scanning provided in the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, according to the ideas of the present application, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A coordinate measurement system based on rotating laser scanning, characterized in that: The coordinate measuring system comprises: A pulse light source, used for emitting pulse laser at fixed time intervals; A rotating device, wherein a reflective component is disposed on the rotating device, and during the rotation of the rotating device, the reflective component reflects the pulsed laser to different directions; A plurality of photoelectric detectors, wherein the plurality of photoelectric detectors include: at least one target detector at a position to be measured and at least one reference detector at a preset position; The reference detector is used to determine disturbance information of the pulse laser caused by the measurement environment based on the received pulse laser, so as to compensate the rotational angular velocity of the rotating device according to the disturbance information; and The target detector is used to determine the coordinate information of the position to be measured relative to the rotating device based on the received pulse laser.

2. The system according to claim 1, characterized in that The pulse light source is a mode-locked laser source, and the pulse laser is a femtosecond optical frequency comb.

3. A coordinate measurement method based on rotating laser scanning, characterized in that: The method performs coordinate measurement based on the coordinate measurement system as claimed in claim 1 or 2, and the method comprises the following steps: Collecting the number of first pulses of the pulsed laser emitted by the pulsed light source detected by the target detector within a preset period and the first pulse time; Determine the coordinate information of the position to be measured of the target detector relative to the rotating device based on the first pulse number and the first pulse time; The method further comprises: The second pulse quantity of the pulsed laser detected by the reference detector within a preset period is collected to determine disturbance information of the pulsed laser caused by the measurement environment according to the second pulse quantity, and the rotational angular velocity of the rotating device is compensated according to the disturbance information.

4. The method according to claim 3, characterized in that The step of determining the coordinate information of the position to be measured of the target detector relative to the rotating device based on the first pulse quantity and the first pulse time includes: Determine the distance information of the to-be-detected position of the target detector relative to the rotating device based on the first pulse quantity, the preset angular velocity of the rotating device, the preset pulse period of the pulse light source, and the detection width of the target detector; Based on the time interval information of the first pulse time relative to the preset reference moment and the preset angular velocity of the rotating device, the angle information of the position to be measured of the target detector relative to the reference direction is determined, wherein the preset reference moment is the moment information when the reflective component reflects the pulse laser to the preset reference direction; The coordinate information of the position to be measured where the target detector is located relative to the rotating device is determined according to the distance information and the angle information.

5. The method according to claim 3, characterized in that: The determining of the distance information of the to-be-detected position of the target detector relative to the rotating device based on the first pulse quantity, the preset angular velocity of the rotating device, the preset pulse period of the pulse light source, and the detection width of the target detector includes: determining a scanning angle of the target detector relative to the rotating device based on the first pulse quantity, a preset angular velocity of the rotating device, and a preset pulse period of the pulse light source; The distance information of the to-be-detected position of the target detector relative to the rotating device is determined according to the scanning angle and the detection width of the target detector.

6. The method according to claim 5, characterized in that The distance information d of the position to be measured relative to the rotating device is determined by the following formula: d = 2a / tan(θ / 2); Wherein, a is the detection width of the target detector, θ is the detection angle of the target detector relative to the rotating device, and the calculation formula of the detection angle θ is as follows: θ=N1ωΔt; Wherein, N1 is the first pulse number, ω is the preset angular velocity of the rotating device, and Δt is the preset pulse period of the pulse light source.

7. The method according to claim 4, characterized in that The determining, according to the second pulse quantity, the disturbance information of the pulse laser caused by the measurement environment includes: determining a real-time angular velocity of the rotating device based on a preset distance of a reference detector relative to the rotating device, a detection width of the reference detector, and the second pulse number; The disturbance information of the pulse laser caused by the measurement environment is determined according to the difference between the real-time angular velocity and the preset angular velocity.

8. The method according to claim 7, characterized in that In the case where the detection width of the target detector is equal to the detection width of the reference detector, the method further includes: Determining an estimated distance of the target detector relative to the rotating device based on the preset distance, the first pulse number, and the second pulse number; After determining the distance information of the to-be-detected position of the target detector relative to the rotating device according to the detection angle and the detection width of the target detector, the method further includes: Distance information determined by the detection angle and the detection width is verified based on the estimated distance.

9. The method according to claim 3, characterized in that: The method further comprises: The disturbance information of the pulse laser caused by the measuring environment is stored in association with the temperature information of the measuring environment, so that when the target detector at the position to be measured detects the pulse laser, the rotational angular velocity of the rotating device can be compensated according to the real-time temperature information.

10. A computer device, characterized in that: The computer device includes a processor and a memory, wherein the memory stores a plurality of instructions; the processor loads instructions from the memory to execute the steps of the coordinate measurement method based on rotational laser scanning as described in any one of claims 3 to 9.

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