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CN-121977507-A - Visual-assistance-fused measuring instrument inclination angle monitoring method and device

CN121977507ACN 121977507 ACN121977507 ACN 121977507ACN-121977507-A

Abstract

The invention discloses a vision-assisted measuring instrument inclination angle monitoring method and device, belongs to the technical field of precision instrument measurement, and aims to solve the problem that the reliability of inclination angle detection of a measuring instrument is poor in the prior art. The technical key point of the invention comprises the steps of respectively acquiring an image containing a level and an inclination angle measured value by utilizing an image sensor module and an inclination angle sensor in an inclination angle detection device fixed on a measuring instrument, processing the image containing the level by utilizing a multi-core processor in the inclination angle detection device, extracting bubble position information of the level and acquiring an inclination angle value of the level according to the bubble position information, carrying out fusion processing on the inclination angle value of the level and the inclination angle measured value to acquire a fused inclination angle value, and taking the fused inclination angle value as a final inclination angle monitoring result of the measuring instrument. The invention is suitable for high-precision measuring instruments with extremely high requirements on the real-time performance and accuracy of horizontal inclination angle monitoring.

Inventors

  • GUO ZHANCHENG
  • GENG XIAOBO

Assignees

  • 天津市德安特传感技术有限公司

Dates

Publication Date
20260505
Application Date
20260312

Claims (10)

  1. 1. A vision-aided fusion method for monitoring the inclination angle of a measuring instrument, comprising the steps of: respectively acquiring an image containing a level gauge (6) and an inclination angle measured value by using an image sensor module (1) and an inclination angle sensor in an inclination angle detection device fixed on a measuring instrument; processing an image containing the level gauge (6) by using a multi-core processor in the inclination angle detection device, extracting the position information of the bubble of the level gauge and obtaining an inclination angle value of the level gauge according to the position information; and carrying out fusion treatment on the dip angle value of the level and the dip angle measured value to obtain a fused dip angle value, and taking the fused dip angle value as a final dip angle monitoring result of the measuring instrument.
  2. 2. The vision-aided fusion measuring instrument inclination monitoring method of claim 1, wherein the processing of an image containing a level (6) by a multi-core processor in an inclination detection device, extracting level bubble position information and obtaining a level inclination value according to the level bubble position information comprises the steps of graying the image, detecting a Hough transformation fixed radius circle of the grayed image to obtain bubble circle center coordinates and window circle center coordinates of the level (6), calculating a substitution inclination value according to the bubble circle center coordinates and the window circle center coordinates by taking the window circle center as an origin, wherein the substitution inclination value comprises an x-axis substitution inclination value And y-axis represents tilt angle value The x-axis represents the tilt angle value The y-axis represents the inclination angle value as the difference between the x-axis coordinate of the center of the bubble and the x-axis coordinate of the center of the window Calculating the inclination angle value of the level according to the following formula based on the substitution inclination angle value, wherein the substitution inclination angle value is the difference between the y-axis coordinate of the circle center of the bubble and the y-axis coordinate of the circle center of the window: ; ; In the formula, Representing the x-axis component of the level tilt value, Representing the y-axis component of the inclination angle value of the level; r represents the physical length of the window radius; The ratio of bubble movement to change in tilt angle of the level (6) is shown.
  3. 3. The method for monitoring tilt angle of vision-aided measuring instrument according to claim 2, wherein the step of performing fusion processing on the tilt angle value of the level and the tilt angle measurement value to obtain a fused tilt angle value comprises fusing the tilt angle value of the level and the tilt angle measurement value by a weighted average algorithm, wherein the fused tilt angle value has an x-axis component of And the y-axis component of the tilt value The method comprises the following steps of: ; ; In the formula, The weights representing the x-axis component of the level tilt value, , Indicating the failure factor of the level, Representing the variance of the x-axis component of the level dip; representing the weight of the x-axis component of the inclination measurement, , Representing the failure factor of the tilt sensor, Representing the variance of the x-axis component of the dip angle measurement; representing the x-axis component of the tilt measurement; representing the y-axis component of the tilt measurement; The weights representing the y-axis component of the level tilt value, , Representing the variance of the y-axis component of the level dip; Representing the weight of the y-axis component of the tilt measurement, , Representing the variance of the y-axis component of the tilt measurement.
  4. 4. A method of vision-aided fusion of measuring instrument tilt monitoring according to claim 3, wherein the tilt sensor has a failure factor of Determined as follows when the tilt sensor is operating normally During abnormal operation When the operation fails Failure factor of the level The method is characterized in that when the included angle between the inclination angle of the level gauge and the horizontal plane is smaller than the maximum range value of the inclination angle of the bubble of the level gauge (6) In the time-course of which the first and second contact surfaces, Otherwise 。
  5. 5. A method of vision-aided fusion of measuring instrument tilt monitoring according to claim 3, wherein the tilt sensor has a failure factor of Determined as follows when the tilt sensor is operating normally During abnormal operation When the operation fails Failure factor of the level Determining the failure factor of the level according to the inclination angle measured value acquired by the inclination angle sensor when the inclination angle sensor operates normally or abnormally Namely if Then Vice versa , Represents the maximum range value of the bubble tilt angle of the level gauge (6), and when the tilt angle sensor fails to operate, 。
  6. 6. A vision-aided measuring instrument inclination monitoring device is used for achieving the vision-aided measuring instrument inclination monitoring method according to any one of claims 1-5, and comprises an image sensor module (1), a microprocessor (2), a support (5) and a leveling instrument (6), wherein the support (5) comprises an upper mounting plane, a lower mounting plane and a lower mounting plane, the image sensor module (1) comprises an image sensor and a camera, the camera is vertically aligned with the leveling instrument (6), the image sensor module (1) is electrically connected with the microprocessor (2) and used for acquiring and transmitting images containing the leveling instrument (6) to the microprocessor (2), the microprocessor (2) integrates a processor and an inclination sensor, the inclination sensor is used for acquiring inclination angle measurement values, the multi-core processor is configured to process the images containing the leveling instrument (6), extract position information and acquire inclination angle measurement values, and fuse the inclination angle measurement values with the leveling instrument according to the measurement values.
  7. 7. A fusion vision-aided surveying instrument tilt angle monitoring device according to claim 6, characterized in that the level (6) is a high-sensitivity circular level.
  8. 8. The vision-assisted measuring instrument inclination angle monitoring device according to claim 6 is characterized in that the microprocessor (2) is in butt joint with an external communication interface and a power interface through a single-row terminal (3), and the image sensor module (1) is electrically connected with the microprocessor (2) through an in-line double-row pin header and a bus header (4).
  9. 9. A vision-aided measuring instrument tilt angle monitoring device according to claim 6, characterized in that a spacer (8) is used between the level (6) and the mounting plane under the support (5) to adjust the degree of compression.
  10. 10. The vision-assisted measuring instrument inclination monitoring device according to claim 6, further comprising a bolt (7), wherein the bolt (7) is used for fixing the image sensor module (1), the microprocessor (2) and the level (6) on the upper mounting plane and the lower mounting plane of the bracket (5), and fine adjustment of the image sensor module (1), the microprocessor (2) and the level (6) is achieved through tightening force.

Description

Visual-assistance-fused measuring instrument inclination angle monitoring method and device Technical Field The invention relates to the technical field of precision instrument measurement, in particular to a vision-assisted measurement instrument dip angle monitoring method and device. Background In the field of precision instrument measurement technology, measuring instruments are often equipped with a level gauge, also commonly referred to as a level vial, for indicating the level of a reference surface of the instrument, which can be directly observed by the naked eye of a user. And some measuring instruments with higher requirements on the horizontal posture during measurement are provided with an electronic inclination angle sensor and an automatic horizontal regulating mechanism, so that the real-time monitoring and automatic regulation of the horizontal posture of the instrument are completed. In the prior art, various measuring instruments or devices are main approaches for providing inclination angle detection, namely, the inclination angle detection is completed through an electronic inclination angle sensor, for example, patent publication number CN214951774U, patent name horizontal self-detection weighing balance, patent publication number CN113514031, patent name machine vision-based building inclination detection device and method and the like. The main flow technology has mature path technology and low cost, and different kinds of electronic inclination sensors can meet different requirements of different application occasions on precision, so that the horizontal gesture can be quickly captured. High precision measuring instruments are typically deployed in a quiet laboratory environment where the above-described mainstream technology path can meet the needs of use. However, as the requirements of industrial sites on precision measurement are higher and higher, more and more high-precision measurement instruments are deployed on an automation production line with a relatively harsh use environment, and a plurality of interference factors such as mechanical vibration, temperature and humidity change and the like exist on the automation production line generally. Therefore, in such a multi-interference environment, due to the problems of excessively high sensitivity of the electronic tilt sensor and easiness in temperature drift, the completion of tilt measurement by only a single electronic tilt sensor faces a plurality of uncertain factors, so that the reliability of the measurement result is greatly reduced. Disclosure of Invention In order to solve the technical defects, the invention provides a measuring instrument dip angle monitoring method and device integrating visual assistance. According to an aspect of the present invention, a method for monitoring an inclination angle of a measuring instrument with vision assistance is provided, the method comprising: respectively acquiring an image containing a level gauge and an inclination angle measured value by using an image sensor module and an inclination angle sensor in an inclination angle detection device fixed on a measuring instrument; Processing an image containing the level by using a multi-core processor in the inclination angle detection device, extracting the position information of the bubble of the level and obtaining an inclination angle value of the level according to the position information; and carrying out fusion treatment on the dip angle value of the level and the dip angle measured value to obtain a fused dip angle value, and taking the fused dip angle value as a final dip angle monitoring result of the measuring instrument. Further, the method for processing the image containing the level by the multi-core processor in the dip angle detection device comprises the steps of graying the image, carrying out Hough transformation fixed radius circle detection on the grayed image to obtain the air bubble circle center coordinate and the window circle center coordinate of the level, calculating a substitution dip angle value by taking the window circle center as an origin according to the air bubble circle center coordinate and the window circle center coordinate, wherein the substitution dip angle value comprises an x-axis substitution dip angle valueAnd y-axis represents tilt angle valueThe x-axis represents the tilt angle valueThe y-axis represents the inclination angle value as the difference between the x-axis coordinate of the center of the bubble and the x-axis coordinate of the center of the windowCalculating the inclination angle value of the level according to the following formula based on the substitution inclination angle value, wherein the substitution inclination angle value is the difference between the y-axis coordinate of the circle center of the bubble and the y-axis coordinate of the circle center of the window: ; ; In the formula, Representing the x-axis component of the level tilt value,Representing the