Research On The Coordinate Measuring Technology Of Non-orthogonal Shafting Laser Total Station Combined With Visual Guidance

With the development of industrial manufacturing,aerospace and infrastructure,large-scale measurement technology is developing and innovating.From the theodolite,total station to the iGPS and combined measurement technology,ways of large scale measurement are more and more diversified.In order to achieve higher measurement accuracy,these instruments are generally dependent on orthogonal structure,resulting in high R & D costs.To solve this problem,a kind of novel measuring instrument based on non-orthogonal architecture is proposed and some studies are carried out.The research focuses on the non-orthogonal shafting laser theodolite and the non-orthogonal shafting laser total station.The measuring principle and the calibration of the inner parameters are analyzed and verified.The measurement accuracy of the non-orthogonal laser theodolite system is high,but the measurement speed is slow due to the measurement model of the bistatic intersection.At the same time,although the production cost has been greatly reduced compared with the traditional measuring instruments,it is still much higher than the non-orthogonal shafting laser total station measuring system.Therefore,for some measurement applications,such as bridge deformation monitoring and so on,the non-orthogonal shafting laser total station is a good choice.In this paper,starting with the structure of the non-orthogonal shafting laser total station,combining the spatial circle fitting method and the spatial straight line fitting method,the internal parameter calibration process of the non-orthogonal shafting laser total station is studied.After obtaining the inner parameters,the forward and inverse kinematics models of the non-orthogonal total station laser station are studied,and the measurement models are established.In order to improve the measuring efficiency of the non-orthogonal shafting laser total station and reduce the aiming error,combined with computer vision,this paper puts forward a novel visual guidance method,including rough guiding process and fine guiding process.Finally,the non-orthogonal shafting laser total station is constructed based on Zhuolihanguang RAK100 rotary table and Leica DISTO D810 laser ranging module,and compared with the laser tracker.The experimental results show that the new measuring system can achieve the accuracy of millimeter measurement and can meet the needs of large scale space measurement such as bridges,tunnels and buildings.The main contents of this thesis are as follows:1.The present research status of large scale measuring equipment and system is analyzed.Based on this,the concept of non-orthogonal shafting measurement system is introduced,and the measurement system of non-orthogonal shafting laser total station based on computer vision is put forward.2.The calibration of internal parameters,forward motion model and reverse motion model of non-orthogonal shafting laser total station are theoretically analyzed.3.Combined with the computer vision technology and the structure characteristics of the non-orthogonal shafting laser total station,the rough guiding scheme and the fine guiding scheme are put forward.4.In order to build the prototype of this system,the corresponding hardware modules are selected.Combined with MFC and OpenCV,the PC control software is written.5.The internal parameters of the prototype of the non-orthogonal shafting laser total station are calibrated and measuring performance is compared with the laser tracker.