CN109798875B - Method for marking mining range line in mining area video system in real time - Google Patents
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Abstract
The invention discloses a method for marking a mining range line in real time in a mining area video system, which comprises the following steps: step 1, establishing a mining area photogrammetry coordinate system: step 2, converting the coordinates of the inflection point of the range of the mining area in the mining permit into a photogrammetry coordinate system of the mining area, and measuring the elevation corresponding to the inflection point in the field through a GPS according to the coordinates of the inflection point of the range of the mining area in the mining permit; step 3, determining an internal orientation element and a distortion coefficient of the camera; step 4, obtaining coordinates of exterior orientation elements of the camera through a GPS, and converting the coordinates into a mining area photogrammetry coordinate system; and 5, calculating coordinates on an image plane coordinate system corresponding to the inflection point coordinates of the mining area range, connecting the coordinates to form a mining area line, and displaying the mining area line in real time in a mining area video system. The invention overcomes the defects that the physical mark pile is easy to be damaged and displaced, and the like, and simultaneously greatly reduces the difficulty of identifying the boundary-crossing mining of the mine by workers.
Description
Technical Field
The invention relates to the technical field of surveying and mapping, in particular to a method for marking a mining range line in a mining area video system in real time.
Background
Mine safety accidents are a serious problem commonly existing in mines in China, seriously threaten the life and life of people and arouse the general attention of the nation and the society. The border-crossing mining of mine owners is one of the important causes of mine accidents, but no mature real-time monitoring technology for border-crossing mining exists at present. Huangpan et al propose a method for determining the location of a seismic source by using a natural earthquake, and judge whether border-crossing mining is performed by calculating the time-space parameters of the seismic source for blasting. Wang cloud et al patent methods: a time-space characteristic and border-crossing mining identification method for multi-source data monitoring of mine area deformation utilizes a synthetic aperture radar to judge the sedimentation and deformation of the mine area and identify a border-crossing mining area. The existing methods or patent technologies require high-cost data monitoring, and meanwhile, monitoring personnel are required to have too hard related professional knowledge, so that the requirement of monitoring whether border-crossing mining occurs or not in real time cannot be really met.
On the basis of the existing monitoring equipment and data of the mine, if the mining range can be marked in the monitoring picture, monitoring personnel can be assisted to accurately judge whether the boundary-crossing mining condition occurs or not in real time. Therefore, it is a very valuable problem in the art to provide an economical and practical method for real-time marking of a mining area line in a mining area video system.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the defects in the prior art: at present, only the inflection point coordinates of the mining area range line are specified in the mining permit, and a method for marking the mining area line in real time in a mining area video system is provided for discovering and identifying the boundary-crossing mining phenomenon existing in the mining area in real time.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the invention provides a method for marking a mining range line in real time in a mining area video system, wherein the mining area video system for monitoring a mining area picture in real time is arranged in a mining area and comprises a plurality of cameras; the method comprises the following steps:
step 1, establishing a mining area photogrammetry coordinate system: selecting an origin of a coordinate system according to the actual geographic position and the topographic features of the mining area, and establishing a right-hand space rectangular coordinate system by taking the zenith direction as a z axis of the coordinate system, the geography east direction as an x axis and the geography north direction as a y axis;
step 2, converting the coordinates of the inflection point of the range of the mining area in the mining permit into a photogrammetry coordinate system of the mining area, and measuring the elevation corresponding to the inflection point in the field through a GPS according to the coordinates of the inflection point of the range of the mining area in the mining permit;
step 3, establishing a direct linear relation between the coordinates of the image points of the camera and the corresponding object points in a photogrammetry coordinate system of the mining area through a direct linear transformation solution, and determining the internal orientation elements and the distortion coefficients of the camera;
step 4, obtaining coordinates of exterior orientation elements of the camera through a GPS, and converting the coordinates into a mining area photogrammetry coordinate system;
and 5, calculating coordinates on an image plane coordinate system corresponding to the inflection point coordinates of the mining area range according to the coordinates of the elements outside the camera in the mining area photogrammetry coordinate system, connecting the coordinates to form a mining area line, and displaying the mining area line in real time in a mining area video system.
Further, the method for determining the internal orientation element and the distortion coefficient of the camera in step 3 of the present invention specifically comprises:
step 3.1, establishing a control field and measuring the coordinates of the control points: the direct linear transformation calibration method is to perform calibration by using the mark points with known coordinates in an experimental field, and the establishment of a control field is the basis; a certain number of basic control points are distributed in a control field, and the control points ensure stability; the coordinates of the basic control points are precisely measured by a method of establishing a high-precision control network, and the object space coordinates of the control points are precisely measured by an engineering measurement forward intersection method;
step 3.2, shooting a mark point picture and acquiring the image plane coordinates of the control points: at different positions in the control field, the camera takes control point pictures at different rotation angles, and each picture takes more than 6 control points; transmitting the picture to a computer, and obtaining the coordinates of the image plane of the mark point through image point measurement software;
step 3.3, DLT solves the calibration parameter value: and calculating 11 coefficient values of the model according to the DLT model by using the obtained object space coordinates and image plane coordinates of the mark points, and calculating the internal orientation element and the distortion coefficient of the camera according to the relation between the coefficient values of the l and the internal orientation element of the camera.
Further, the specific method for obtaining the coordinates of the exterior orientation element of the camera through the GPS in the step 4 and converting the coordinates into the mining area photogrammetry coordinate system comprises the following steps:
the camera exterior orientation elements are acquired by GPS and converted to the mine photogrammetry coordinate system (X)O，YO，ZO) The method comprises the following steps: fixing the camera in a working area; aligning the antenna phase center of the GPS receiver with the imaging plane of the camera in the horizontal direction, recording the position coordinate returned by the GPS receiver, and subtracting the relative height of the GPS receiver relative to the camera to obtain the position coordinate (X) of the cameraC，YC，ZC) (ii) a The coordinate of the camera position coordinate in the mining area photogrammetry coordinate system is (Y)C-YO，XC-XO，ZG-ZO) Written as (X)cYc，Zc) (ii) a The initial external azimuth angle element of the camera is resolved by two GPS receivers, and the external azimuth angle element of the camera is obtained as
Further, the camera external azimuth element is updated in real time with the change of the camera attitude in step 4 of the present invention.
Further, the specific method for calculating the coordinates on the image plane coordinate system in step 5 of the present invention is as follows:
step 5.1, determining a camera rotation matrix: obtaining a corresponding camera rotation matrix from the angle element of the camera exterior orientation element obtained in the step 4, and recording the corresponding camera rotation matrix as R;
step 5.2, determining a collinear condition equation corresponding to each control point according to the camera rotation matrix determined in the step 5.1;
step 5.3, finding the inflection point coordinate of the range of the mining area in front of the photographic plane: since the coordinates of the range points located behind the camera plane must not be imaged, points located in front of the camera plane are to be distinguished; firstly, the position vector of the point to be distinguished is recorded as g ═ Xg，Yg，Zg) The phase vector is denoted as c ═ Xc，Yc，Zc) If a normal vector of an imaging plane of the camera in an image space coordinate system is (0, 0, 1), a normal vector of the imaging plane of the camera in a photogrammetry coordinate system is R.i; if R & i (g-c) > 0, the inflection point of the mining area range corresponding to the bit vector g is in front of the photographic plane;
step 5.4, calculating coordinates on an image plane coordinate system corresponding to the inflection point coordinates of the mining area range and connecting lines: and (3) substituting the mine area range inflection point coordinate in front of the photographic plane obtained in the step (5.3) into the collinear equation calculated in the step (5.2) to obtain image point coordinates (x, y) corresponding to the mine area range inflection point coordinate to be obtained, and connecting and displaying the image point coordinates (x, y) in sequence.
Further, the collinearity condition equation in step 5.2 of the present invention is of the form:
wherein dx, dy are camera distortion correction terms, cameraThe inner orientation element being x0，y0，fx，fy。
The invention has the following beneficial effects: according to the method for marking the mining range line in real time in the mining area video system, the existing mining area range line marking needs to set the mark pile at the corner of the range line, any physical mark pile is not needed to be set, the physical mark pile is replaced by a mode of generating the virtual mark line in real time in the video, and the defects that the physical mark pile is easy to damage and shift and the like can be overcome; in addition, the method of the invention also has the following advantages: 1. the virtual boundary line is generated in real time in the video by utilizing the photogrammetry technology to replace the inner boundary line of the object, any physical mark is not required to be set, and the defects that the physical mark pile is easy to damage and shift and the like can be overcome. 2. The virtual boundary line reduces the cost of purchasing the buried physical marker. 3. And boundary lines are marked in real time in the video, so that the difficulty of identifying the boundary-crossing mining of the mine by workers is greatly reduced.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a general flow chart of an embodiment of the present invention;
FIG. 2 is a flow chart of step 5 of an embodiment of the present invention;
fig. 3 is a diagram of a practical application scenario of an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the process of the present invention is specifically illustrated by taking an open-pit quarry as an example, and the method includes the following steps:
step 1, establishing a mining area photogrammetry coordinate system: selecting an origin of a coordinate system according to the actual geographic position and the topographic features of the mining area, wherein the zenith direction is taken as a z axis of the coordinate system, the geography east direction is taken as an x axis, and the geography north direction is taken asAnd the y-axis establishes a right-hand space rectangular coordinate system. The position of its coordinate system origin in the geodetic coordinate system is denoted (X)O，YO，ZO)。
The photogrammetric coordinate system is established on the principle that subsequent calculation is convenient, and the origin of the coordinate system is preferably arranged on the existing ground control point. If there is no better ground control point, it is considered to select an open area, measure coordinates using GPS and embed the ground control point.
Step 2, converting the inflection point coordinates of the range of the mining area in the mining permit into a mining area photogrammetric coordinate system (X)O，YO，ZO) The method comprises the following steps: note that the mining area range inflection point coordinates in the mining permit in the example are in the 1980 sienna geodetic coordinate system. The inflection point coordinates of the mining area range are a geodetic coordinate system, and the geodetic coordinate system is a left-handed system. Mine area range inflection point plane seating mark (X)G，YG) And the plane coordinate of the transformed inflection point of the mining area range in the mining area photogrammetry coordinate system is (Y)G-YO，XG-XO)。
According to the coordinates of the inflection point of the range of the mining area in the mining permit, the elevation corresponding to the inflection point is measured on the spot through a GPS and recorded as ZG. The coordinate of the inflection point of the mining area range in the mining area photogrammetry coordinate system is (Y)G-YO，XG-XO，ZG-ZO) We remember as (X)g，Yg，Zg)。
In the embodiment, the coordinate system origin coordinate in step 1 is obtained by using GPS field measurement, and it is necessary to convert the coordinate system origin coordinate of the photogrammetry coordinate system of the mining area from the WGS-84 coordinate system to the 1980 west ampere coordinate system.
Example processes relate to the mine area range corner coordinate data as follows:
and 3, establishing a direct linear relation between the coordinates of the image points of the camera and the corresponding object points in the photogrammetry coordinate system of the mining area through a direct linear transformation solution, and determining the internal orientation elements and the distortion coefficients of the camera.
In this embodiment, the inner orientation element of the camera includes the principal point coordinates (x)0，y0) And the principal x-direction distance f of the cameraxAnd y-direction principal distance fyThe distortion coefficient comprises a coordinate axis non-vertical error d beta and a scale non-uniform error ds.
In step 3, the specific operation method of camera calibration is as follows.
Step 3.1, establishing a control field and measuring the coordinates of control points: the direct linear transformation calibration method is based on the establishment of a control field by means of calibration with known coordinates of mark points in an experimental field. A certain number of basic control points are required to be laid in the control field. The control points must be fairly stable. The coordinates of the basic control points are precisely measured by some methods for establishing a high-precision control network, and the object space coordinates of the control points are precisely measured by an engineering measurement forward intersection method.
Step 3.2, shooting the mark point photo and obtaining the control point photo plane coordinate: in different positions of the control field, the camera shoots control point pictures at different rotation angles, and each picture needs to shoot at least more than 6 control points. Since the camera in the field of video surveillance is a fixed focus camera, there is no situation of focus change. And transmitting the digital image to a computer, and obtaining the coordinates of the image plane of the mark point through image point measuring software.
And 3.3, solving the calibration parameter value by DLT. And calculating 11 coefficient values of the model according to the DLT model by using the obtained object space coordinates and image plane coordinates of the mark points. And calculating the inner orientation element and the distortion coefficient of the camera according to the relation between the value of the coefficient l and the inner orientation element of the camera.
Step 4, obtaining the exterior orientation element of the camera through GPS and converting the exterior orientation element into a mining area photogrammetry coordinate system (X)O，YO，ZO) The method comprises the following steps: the camera is fixed in the working area. Aligning the antenna phase center of the GPS receiver with the imaging plane of the camera in the horizontal direction, recording the position coordinate returned by the GPS receiver, and subtracting the relative height of the GPS receiver relative to the cameraThat is to say the position coordinate (X) of the cameraC，YC，ZC). The coordinate of the camera position coordinate in the mining area photogrammetry coordinate system is (Y)C-YO，XC-XO，ZG-ZO) Written as (X)cYc，Zc). The initial outer azimuth element of the camera can be resolved by two GPS receivers. Without considering the rotation of the photosensitive element of the camera, the external orientation angle element of the camera can be obtained as
The camera-out azimuth element needs to be updated in real time as the camera pose changes.
In the embodiment, the video camera is a rotating hemispherical camera, and the posture can be updated through rotation. The rotating hemispherical camera can update the external orientation angle element of the camera in real time in the rotating process.
Step 5, calculating coordinates on an image plane coordinate system corresponding to the inflection point coordinates of the mining area range according to the inside and outside orientation elements of the camera and connecting the coordinates:
as shown in fig. 2, in step 5, the specific operation method is as follows:
step 5.1, determining a camera rotation matrix: and obtaining a corresponding camera rotation matrix which is recorded as R from the angle element of the camera exterior orientation element obtained in the step four. Wherein each element in the R matrix is:
and 5.2, determining a collinear condition equation corresponding to each control point according to the camera rotation matrix determined in the step 5.1. The collinearity condition equation is the basis for solving the boundary point image plane coordinates.
For this example, the collinear conditional equations incorporating camera axis non-perpendicularity distortion and scale non-uniformity distortion are in the form:
wherein x0，y0，fx，a1，a2，a3，b1，b2，b3，c1，c2，c3，ds，dβ，(XC，YC，ZC) The coordinates (X, y) of the image point to be determined and the photogrammetric coordinates (X) associated with this image point are knowng，Yg，Zg) Is an unknown number.
Step 5.3, finding the inflection point coordinate of the range of the mining area in front of the photographic plane: since the range point coordinates located behind the photographing plane must not be imaged, points located in front of the photographing plane are distinguished. Firstly, the position vector of the point to be distinguished is recorded as g ═ Xg，Yg，Zg). Recording the phase vector as c ═ Xc，Yc，Zc) If the normal vector of the camera imaging plane in the image space coordinate system is (0, 0, 1), the normal vector of the camera imaging plane in the photogrammetry coordinate system is R · i.
According to the vector algorithm, if R.i. (g-c) > 0, the inflection point of the mining area range corresponding to the bit vector g is in front of the photographic plane.
For this embodiment, steps 5.2 and 5.3 are performed once when the dome camera changes its outer azimuth element. For some cameras with fixed postures, the steps 5.2 and 5.3 are performed once in the initialization stage.
Step 5.4, calculating coordinates on an image plane coordinate system corresponding to the inflection point coordinates of the mining area range and connecting lines: and (4) substituting the coordinates of the inflection point of the range of the mining area in front of the photographic plane obtained in the step 5.3 into the collinearity equation calculated in the step 5.2. And obtaining image point coordinates (x, y) corresponding to the inflection point coordinates of the mining area range to be obtained, and connecting and displaying the image point coordinates (x, y) in sequence. The specific display effect is shown in figure 3.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (1)
1. A method for marking a mining range line in real time in a mining area video system is characterized in that the mining area video system for monitoring the mining area pictures in real time is arranged in a mining area and comprises a plurality of cameras; the method comprises the following steps:
step 1, establishing a mining area photogrammetry coordinate system: selecting an origin of a coordinate system according to the actual geographic position and the topographic features of the mining area, and establishing a right-hand space rectangular coordinate system by taking the zenith direction as a z axis of the coordinate system, the geography east direction as an x axis and the geography north direction as a y axis;
step 2, converting the coordinates of the inflection point of the range of the mining area in the mining permit into a photogrammetry coordinate system of the mining area, and measuring the elevation corresponding to the inflection point in the field through a GPS according to the coordinates of the inflection point of the range of the mining area in the mining permit;
step 3, establishing a direct linear relation between the coordinates of the image points of the camera and the corresponding object points in a photogrammetry coordinate system of the mining area through a direct linear transformation solution, and determining the internal orientation elements and the distortion coefficients of the camera;
step 4, obtaining coordinates of exterior orientation elements of the camera through a GPS, and converting the coordinates into a mining area photogrammetry coordinate system;
step 5, calculating coordinates on an image plane coordinate system corresponding to the inflection point coordinates of the mining area range according to the coordinates of the exterior orientation elements of the camera in the mining area photogrammetry coordinate system, connecting the coordinates to form a mining area line, and displaying the mining area line in real time in a mining area video system;
the specific method for calculating the coordinates on the image plane coordinate system in the step 5 is as follows:
step 5.1, determining a camera rotation matrix: obtaining a corresponding camera rotation matrix from the angle element of the camera exterior orientation element obtained in the step 4, and recording the corresponding camera rotation matrix as R;
step 5.2, determining a collinear condition equation corresponding to each control point according to the camera rotation matrix determined in the step 5.1;
step 5.3, finding the inflection point coordinate of the range of the mining area in front of the photographic plane: due to being located in the cameraThe coordinates of the range points behind the shadow plane are not imaged, so points in front of the photographic plane need to be distinguished; firstly, the position vector of the point to be distinguished is recorded as g ═ Xg，Yg，Zg) The phase vector is denoted as c ═ Xc，Yc，Zc) If a normal vector of an imaging plane of the camera in an image space coordinate system is (0, 0, 1), a normal vector of the imaging plane of the camera in a photogrammetry coordinate system is R.i; if R & i (g-c) > 0, the inflection point of the mining area range corresponding to the bit vector g is in front of the photographic plane;
step 5.4, calculating coordinates on an image plane coordinate system corresponding to the inflection point coordinates of the mining area range and connecting lines: substituting the mine area range inflection point coordinate in front of the photographic plane obtained in the step 5.3 into the collinear equation calculated in the step 5.2 to obtain an image point coordinate (x, y) corresponding to the mine area range inflection point coordinate to be solved, and connecting and displaying the image point coordinate (x, y) in sequence;
the collinearity condition equation in step 5.2 is of the form:
wherein dx and dy are distortion correction terms of the camera, and the internal orientation element of the camera is x0，y0，fx，fy；
The method for determining the inner orientation element and the distortion coefficient of the camera in the step 3 specifically comprises the following steps:
step 3.1, establishing a control field and measuring the coordinates of the control points: the direct linear transformation calibration method is to perform calibration by using the mark points with known coordinates in an experimental field, and the establishment of a control field is the basis; a certain number of basic control points are distributed in a control field, and the control points ensure stability; the coordinates of the basic control points are precisely measured by a method of establishing a high-precision control network, and the object space coordinates of the control points are precisely measured by an engineering measurement forward intersection method;
step 3.2, shooting a mark point picture and acquiring the image plane coordinates of the control points: at different positions in the control field, the camera takes control point pictures at different rotation angles, and each picture takes more than 6 control points; transmitting the picture to a computer, and obtaining the coordinates of the image plane of the mark point through image point measurement software;
step 3.3, DLT solves the calibration parameter value: calculating 11 coefficient values of the model according to a DLT model by using the obtained object space coordinates and image plane coordinates of the mark points, and calculating the internal orientation element and the distortion coefficient of the camera according to the relation between the coefficient values of the model and the internal orientation element of the camera;
in the step 4, the specific method for obtaining the coordinates of the exterior orientation elements of the camera through the GPS and converting the coordinates into the mining area photogrammetry coordinate system comprises the following steps:
the camera exterior orientation elements are acquired by GPS and converted to the mine photogrammetry coordinate system (X)O，YO，ZO) The method comprises the following steps: fixing the camera in a working area; aligning the antenna phase center of the GPS receiver with the imaging plane of the camera in the horizontal direction, recording the position coordinate returned by the GPS receiver, and subtracting the relative height of the GPS receiver relative to the camera to obtain the position coordinate (X) of the cameraC，YC，ZC) (ii) a The coordinate of the camera position coordinate in the mining area photogrammetry coordinate system is (Y)C-YO，XC-XO，ZG-ZO) Written as (X)c，Yc，Zc) (ii) a The initial external azimuth angle element of the camera is resolved by two GPS receivers, and the external azimuth angle element of the camera is obtained as
And 4, updating the camera external azimuth angle element in real time along with the change of the camera attitude.
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