CN114966749A - Vision measurement method and RTK receiver - Google Patents
Vision measurement method and RTK receiver Download PDFInfo
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- 238000005259 measurement Methods 0.000 claims abstract description 41
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- 230000002159 abnormal effect Effects 0.000 claims description 10
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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Abstract
The invention discloses a vision measurement method and an RTK receiver, wherein the vision measurement method is used for a measurement system, the measurement system comprises an RTK positioning module, a camera module, a processing module, an acquisition module and an inertia measurement module, and the vision measurement method comprises the following steps: the RTK positioning module acquires positioning coordinates, and the inertial measurement module acquires attitude data; the camera module shoots an initial two-dimensional image of a target to be measured; the acquisition module acquires a selection instruction input by a user; identifying characteristic points of a target to be detected in an image position in the initial two-dimensional image; the camera module shoots the target to be measured again to obtain a plurality of measured two-dimensional images; acquiring the image position of a target to be measured in a measured two-dimensional image; and the processing module acquires the actual position coordinate of the target to be detected. The invention can carry out remote sight distance measurement in real time, is convenient for users to use, improves the operation efficiency, reduces the labor intensity and has higher measurement precision.
Description
Technical Field
The invention relates to a vision measuring method and an RTK receiver.
Background
An RTK (Real-time kinematic) carrier phase differential technology is a differential method for processing carrier phase observed quantities of two measuring stations in Real time, and the carrier phase acquired by a reference station is sent to a user receiver for difference calculation and coordinate calculation. The method is a new common satellite positioning measurement method, the former static, rapid static and dynamic measurements all need to be solved afterwards to obtain centimeter-level accuracy, the RTK is a measurement method capable of obtaining centimeter-level positioning accuracy in real time in the field, a carrier phase dynamic real-time difference method is adopted, the method is a major milestone applied to GPS, the appearance of the method is project lofting and terrain mapping, various control measurements bring new measurement principles and methods, and the operation efficiency is greatly improved.
Because of the limitation of the measurement technical principle and instrument structure of the GNSS (global navigation satellite system), the current GNSS receiver can only directly obtain the coordinates of the antenna phase center of the receiver, and the coordinate value of the pole tip of the pole needs to be measured in the actual project, so the measured coordinates need to be converted into the coordinates of the point to be measured in the form of centering and accurately measuring the pole height.
The existing RTK receiver can measure the coordinates of a target point at a distance, but has the defects of low measurement efficiency, complex operation and inconvenience in use.
Disclosure of Invention
The invention aims to overcome the defects of low measurement efficiency, complex operation and inconvenient use of an RTK receiver in the prior art, and provides a vision measurement method and an RTK receiver which can carry out remote visual range measurement in real time, are convenient for a user to use, improve the operation efficiency, reduce the labor intensity and have higher measurement precision.
The invention solves the technical problems through the following technical scheme:
a vision measurement method for a measurement system including an RTK positioning module, a camera module, a processing module, an acquisition module, and an inertial measurement module, the vision measurement method comprising:
the RTK positioning module acquires positioning coordinates, and the inertia measurement module acquires RTK positioning module attitude data corresponding to the positioning coordinates and attitude data of the camera module;
the camera module shoots an initial two-dimensional image of a target to be detected;
the acquisition module acquires a selection instruction input by a user, wherein the selection instruction comprises an image position of a target to be detected on the initial two-dimensional image;
the processing module identifies characteristic points of a target to be detected in an image position in the initial two-dimensional image;
the camera module shoots the target to be measured again to obtain a plurality of measured two-dimensional images, the RTK positioning module obtains positioning coordinates and the inertia measurement module obtains attitude data, and each measured two-dimensional image corresponds to one group of positioning coordinates and attitude data;
the processing module identifies the feature points of the target to be measured in the re-shot measured two-dimensional image to acquire the image position of the target to be measured in the measured two-dimensional image;
and the processing module acquires the actual position coordinate of the target to be detected according to the image positions, the positioning coordinate and the attitude information of all the targets to be detected and the position relation between the camera module and the RTK positioning module.
Preferably, the vision measuring method includes:
the processing module acquires the actual position coordinate of the target to be measured and the precision value of the actual position coordinate according to the image position, the positioning coordinate, the attitude information of all the targets to be measured and the position relation between the camera module and the RTK positioning module, wherein the precision value comprises a horizontal positioning precision value and a vertical positioning precision value, and the precision value is acquired through the root mean square of the actual position coordinate.
Preferably, the measurement system includes an RTK receiver and an electronic hand book, the RTK receiver includes the RTK positioning module and the camera module, the electronic hand book includes the acquisition module and the processing module, the electronic hand book includes a touch display screen, and the vision measurement method includes:
the electronic hand book displays the initial two-dimensional image;
the electronic notebook collects a selection instruction input by a user through the touch display screen;
the RTK receiver acquires a plurality of measured two-dimensional images, acquires corresponding positioning coordinates and posture data of the measured two-dimensional images, and transmits the measured two-dimensional images, the positioning coordinates and the posture data to the electronic handbook;
the electronic hand book displays the measured two-dimensional image in real time, and calculates the actual position coordinate of the target to be measured in real time according to the measured two-dimensional image, the positioning coordinate and the attitude data;
and the electronic notebook displays the latest actual position coordinate in real time through the touch display screen.
Preferably, the vision measuring method includes:
the touch display screen displays a processing interface;
the method comprises the steps that when a processing interface displays an initial two-dimensional image, a touch display screen collects a selection instruction input by a user;
the processing module acquires an image position according to the selection instruction and marks the image position on the initial two-dimensional image;
the processing interface displays a confirmation option and a abandonment option;
when the processing interface displays the measured two-dimensional images, the processing interface further comprises the actual position coordinates, the precision value of the actual position coordinates and the number of the measured two-dimensional images.
Preferably, the vision measuring method comprises:
the processing module acquires camera coordinates of the camera module according to the positioning coordinates and the known relative position relationship between the RTK positioning module and the camera module;
the processing module calculates the actual position coordinate of the target to be measured according to the image position on the initial two-dimensional image, the image positions on the two measured two-dimensional images, the camera coordinate and the camera attitude information by utilizing a photogrammetry principle.
Preferably, the vision measuring method comprises:
the processing module judges whether the number of the measured two-dimensional images is greater than or equal to 2, if so, the actual position coordinate combination is obtained by utilizing the image positions on the initial two-dimensional images and the combined image positions on all the measured two-dimensional images, and each measured two-dimensional image combination comprises two measured two-dimensional images;
and the processing module acquires the actual position coordinate and the precision value of the target to be detected by using the actual position coordinate combination.
Preferably, the vision measuring method includes:
and the processing module acquires an abnormal value in the actual position coordinate combination, and acquires the actual position coordinate and the precision value of the target to be detected after removing the abnormal value.
Preferably, the camera of the camera module includes 230 ten thousand pixel sensors, the focal length of the camera is 3.2mm, and the field angles of the camera are respectively: d is 152 degrees, V is 63 degrees, H is 114 degrees, and the camera frame rate is 120 fps;
the electronic hand book comprises a touch display screen, wherein the touch display screen collects touch gestures of a user, the touch gestures comprise a zooming gesture and a double-click gesture, the zooming gesture corresponds to a control instruction for zooming out and zooming in a two-dimensional image, and the double-click gesture corresponds to a control instruction for hiding and displaying an image position.
Preferably, the vision measuring method includes:
the camera module acquires an initial two-dimensional image,
the processing module identifies whether historical feature points exist in the initial two-dimensional image, and if so, actual position coordinates corresponding to the historical feature points are obtained;
the processing module acquires the actual position coordinate of the target to be detected by using the actual position coordinate of the historical characteristic point and the position relation between the historical characteristic point and the target characteristic point in the image;
the processing module identifies the feature points of the target to be measured in the re-shot measured two-dimensional image to acquire the image position of the target to be measured in the measured two-dimensional image;
the processing module acquires the actual position coordinate of the target to be measured according to the image positions, the positioning coordinate and the attitude information of all the targets to be measured and the position relation between the camera module and the RTK positioning module;
the processing module obtains an accuracy value of the actual position coordinate of the target to be measured according to the actual position coordinate of the target to be measured obtained through the historical feature points and the actual position coordinate of the target to be measured obtained through measuring the two-dimensional image, and the accuracy value is higher as the distance between the actual position coordinate of the target to be measured obtained through the historical feature points and the actual position coordinate of the target to be measured obtained through measuring the two-dimensional image is smaller.
The invention also provides an RTK receiver comprising an RTK positioning module, a camera module and an inertia measurement module, and an electronic handbook comprising a processing module and an acquisition module, the RTK receiver and the electronic handbook being adapted to implement the vision measurement method as described above.
On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.
The positive progress effects of the invention are as follows:
the invention can carry out remote visual range measurement in real time, is convenient for users to use, improves the working efficiency, reduces the labor intensity and has higher measurement precision.
The vision measurement method for the RTK receiver adopts a mode of shooting while walking and can obtain the absolute coordinate position information of a target point to be measured in real time, thereby effectively saving the operation time and improving the working efficiency. The measuring method with high precision, high efficiency and multiple measuring points realizes the measurement in real time, and is particularly suitable for the scenes with high measuring difficulty, such as pipelines, roofs and the like.
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Fig. 1 is a flowchart of a vision measuring method according to embodiment 1 of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
The present embodiment provides an RTK receiver capable of performing vision measurement with an electronic hand book as a measurement system.
The RTK receiver includes an RTK positioning module, a camera module, and an inertia measurement module.
The electronic handbook comprises a processing module and an acquisition module.
The RTK positioning module is used for acquiring positioning coordinates, and the inertia measurement module acquires RTK positioning module attitude data corresponding to the positioning coordinates and the attitude data of the camera module;
the camera module is used for shooting an initial two-dimensional image of a target to be detected;
the acquisition module is used for acquiring a selection instruction input by a user, and the selection instruction comprises an image position of a target to be detected on the initial two-dimensional image;
the processing module is used for identifying characteristic points of a target to be detected in an image position in the initial two-dimensional image;
the camera module is used for shooting the target to be measured again to obtain a plurality of measured two-dimensional images, meanwhile, the RTK positioning module obtains positioning coordinates and the inertia measurement module obtains attitude data, and each measured two-dimensional image corresponds to one group of positioning coordinates and attitude data;
the processing module is used for identifying the characteristic points of the target to be measured in the re-shot measured two-dimensional image so as to obtain the image position of the target to be measured in the measured two-dimensional image;
and the RTK receiver sends the initial two-dimensional image, the attitude data and the measured two-dimensional image to the electronic handbook, and the electronic handbook knows the position relationship between the camera and the RTK positioning module.
The processing module is used for acquiring the actual position coordinate of the target to be measured according to the image positions, the positioning coordinate and the attitude information of all the targets to be measured and the position relation between the camera module and the RTK positioning module.
In other embodiments, the RTK receiver includes an RTK positioning module, a camera module, and an inertial measurement module. And integrating the electronic hand book on the RTK receiver, wherein the RTK receiver comprises a processing module and a touch display screen. A (c)
The specific operation mode is as follows:
an RTK receiver provided with an inertia measurement module and photographic equipment is installed on the centering rod through threaded connection, and the RTK receiver obtains differential data through a built-in antenna and wireless communication equipment, so that the RTK receiver is in a real-time fixing resolving state, and real-time positioning coordinates are obtained. The RTK receiver can start to take pictures after reaching a fixed state.
At any measuring point, one side of the RTK receiver, which is provided with the photographic equipment, always faces to the target object to be measured, and the first picture of the target object to be measured is shot at any angle.
The electronic handbook is connected with the RTK receiver through Bluetooth or NFC, and after a photographic device of the receiver shoots an image, the electronic handbook displays image information in real time. The camera in the photographic equipment contains 230 ten thousand pixel sensors, the focal length is 3.2mm, the field angle is respectively: d is 152 degrees, V is 63 degrees, H is 114 degrees, the frame rate is as high as 120fps, and two-dimensional and three-dimensional space images can be shot clearly.
When any characteristic point is selected on the first photo (initial two-dimensional image) and the image coordinate of the characteristic point is selected, a finger selection mode is adopted, and the electronic handbook is provided with magnetic attraction and amplification functions, so that the point selection is more convenient. The selected feature points can be displayed on the interface of the electronic handbook through a floating window or can be hidden, and are displayed through double-click.
The operator judges whether the selected feature points satisfy the requirements. The algorithm has set feature point parameter requirements including pixel resolution and the like to help extract more accurate feature points.
When the selected feature point does not meet the parameter requirement, the operator may delete the feature point and reselect the feature point until the parameter requirement is met.
After the characteristic points are selected, the centering rod is held by hand to start moving, one side, provided with the photographic equipment, of the RTK receiver always faces to a target object to be detected, photos are taken while walking, and the electronic handbook obtains image information of each photo in real time.
The RTK receiver outputs real-time RTK coordinates, and the inertial measurement module can stably output accurate attitude angle information including a course angle, a pitch angle and a roll angle.
And the built-in calculation software of the electronic handbook acquires the RTK coordinate and attitude angle information in real time and calculates the 2D or 3D convergence information of the characteristic points.
And when the convergence information of the feature points reaches the set threshold, the electronic handbook interface displays the absolute coordinates of the feature points.
Further, the processing module is configured to obtain an actual position coordinate of the target to be measured and an accuracy value of the actual position coordinate according to the image positions, the positioning coordinates, the attitude information of all the targets to be measured and the position relationship between the camera module and the RTK positioning module, where the accuracy value includes a horizontal positioning accuracy value and a vertical positioning accuracy value, and the accuracy value is obtained by a root mean square of the actual position coordinate.
Specifically, the electronic hand book is used for displaying the initial two-dimensional image;
the electronic hand book is used for collecting a selection instruction input by a user through the touch display screen;
the RTK receiver is used for acquiring a plurality of measured two-dimensional images, acquiring corresponding positioning coordinates and posture data of the measured two-dimensional images and transmitting the measured two-dimensional images, the positioning coordinates and the posture data to the electronic handbook;
the electronic hand pad is used for displaying the measured two-dimensional image in real time and calculating the actual position coordinate of the target to be measured in real time according to the measured two-dimensional image, the positioning coordinate and the attitude data;
the electronic hand book is used for displaying the latest actual position coordinates in real time through the touch display screen.
Furthermore, the touch display screen is used for displaying a processing interface;
the touch display screen is used for collecting a selection instruction input by a user when the processing interface displays the initial two-dimensional image;
the processing module is used for acquiring an image position according to the selection instruction and marking the image position on the initial two-dimensional image;
the processing interface is used for displaying a confirmation option and a abandonment option;
and when the processing interface is used for displaying the measured two-dimensional images, the processing interface also comprises the actual position coordinates, the precision value of the actual position coordinates and the number of the measured two-dimensional images.
Preferably, the processing module is configured to obtain camera coordinates of the camera module according to the positioning coordinates and a known relative position relationship between the RTK positioning module and the camera module;
the processing module is used for calculating the actual position coordinate of the target to be measured by utilizing a photogrammetry principle according to the image position on the initial two-dimensional image, the image positions on the two measured two-dimensional images, the camera coordinate and the camera attitude information.
The processing module is used for judging whether the number of the measured two-dimensional images is greater than or equal to 2, if so, the actual position coordinate combination is obtained by utilizing the image positions on the initial two-dimensional images and the combined image positions on all the measured two-dimensional images, and each measured two-dimensional image combination comprises two measured two-dimensional images;
the processing module is used for acquiring the actual position coordinate and the precision value of the target to be measured by utilizing the actual position coordinate combination.
The processing module is used for acquiring an abnormal value in the actual position coordinate combination, and acquiring the actual position coordinate and the precision value of the target to be detected after removing the abnormal value. The abnormal value refers to abnormal coordinates which are different from other coordinates by more than a threshold value.
The electronic hand book comprises a touch display screen, wherein the touch display screen collects touch gestures of a user, the touch gestures comprise a zooming gesture and a double-click gesture, the zooming gesture corresponds to a control instruction for zooming out and zooming in a two-dimensional image, and the double-click gesture corresponds to a control instruction for hiding and displaying an image position.
Further, in order to further improve the positioning accuracy.
The camera module is used for acquiring an initial two-dimensional image,
the processing module is used for identifying whether historical feature points exist in the initial two-dimensional image or not, and if so, acquiring actual position coordinates corresponding to the historical feature points;
the processing module is used for acquiring the actual position coordinate of the target to be detected by utilizing the actual position coordinate of the historical characteristic point and the position relation between the historical characteristic point and the target characteristic point to be detected in the image;
the processing module is used for identifying the characteristic points of the target to be measured in the re-shot measured two-dimensional image so as to obtain the image position of the target to be measured in the measured two-dimensional image;
the processing module is used for acquiring the actual position coordinate of the target to be measured according to the image positions, the positioning coordinate and the posture information of all the targets to be measured and the position relation between the camera module and the RTK positioning module;
the processing module is used for acquiring the precision value of the actual position coordinate of the target to be measured according to the actual position coordinate of the target to be measured acquired through the historical feature points and the actual position coordinate of the target to be measured acquired through measuring the two-dimensional image, and the smaller the distance between the actual position coordinate of the target to be measured acquired through the historical feature points and the actual position coordinate of the target to be measured acquired through measuring the two-dimensional image, the higher the precision value is.
Referring to fig. 1, with the RTK receiver and the electronic glove, the present embodiment further provides a vision measurement method, including:
101, shooting an initial two-dimensional image of a target to be detected by the camera module;
102, the acquisition module acquires a selection instruction input by a user, wherein the selection instruction comprises an image position of a target to be detected on the initial two-dimensional image;
103, identifying characteristic points of a target to be detected in an image position in the initial two-dimensional image by the processing module;
104, shooting the target to be measured again by the camera module to obtain a plurality of measured two-dimensional images, simultaneously obtaining positioning coordinates by the RTK positioning module and obtaining attitude data by the inertial measurement module, wherein each measured two-dimensional image corresponds to one group of positioning coordinates and attitude data;
and 106, the processing module acquires the actual position coordinate of the target to be detected according to the image positions, the positioning coordinate and the posture information of all the targets to be detected and the position relation between the camera module and the RTK positioning module.
Further, step 106 specifically includes:
the processing module acquires the actual position coordinates of the target to be measured and the precision values of the actual position coordinates according to the image positions, the positioning coordinates and the attitude information of all the targets to be measured and the position relation between the camera module and the RTK positioning module, wherein the precision values comprise horizontal positioning precision values and vertical positioning precision values, and the precision values are acquired through the root-mean-square of the actual position coordinates.
Specifically, the vision measuring method includes:
the electronic hand book displays the initial two-dimensional image;
the electronic notebook collects a selection instruction input by a user through the touch display screen;
the RTK receiver acquires a plurality of measured two-dimensional images, acquires corresponding positioning coordinates and posture data of the measured two-dimensional images, and transmits the measured two-dimensional images, the positioning coordinates and the posture data to the electronic handbook;
the electronic hand book displays the measured two-dimensional image in real time, and calculates the actual position coordinate of the target to be measured in real time according to the measured two-dimensional image, the positioning coordinate and the attitude data;
and the electronic notebook displays the latest actual position coordinate in real time through the touch display screen.
Further, the vision measuring method includes:
the touch display screen displays a processing interface;
the method comprises the steps that when a processing interface displays an initial two-dimensional image, a touch display screen collects a selection instruction input by a user;
the processing module acquires an image position according to the selection instruction and marks the image position on the initial two-dimensional image;
the processing interface displays a confirmation option and a abandonment option;
when the processing interface displays the measured two-dimensional images, the processing interface further comprises the actual position coordinates, the precision value of the actual position coordinates and the number of the measured two-dimensional images.
The vision measurement method further includes:
the processing module acquires camera coordinates of the camera module according to the positioning coordinates and the known relative position relationship between the RTK positioning module and the camera module;
the processing module calculates the actual position coordinate of the target to be measured according to the image position on the initial two-dimensional image, the image positions on the two measured two-dimensional images, the camera coordinate and the camera attitude information by utilizing a photogrammetry principle.
The vision measurement method further includes:
the processing module judges whether the number of the measured two-dimensional images is greater than or equal to 2, if so, the actual position coordinate combination is obtained by utilizing the image positions on the initial two-dimensional images and the combined image positions on all the measured two-dimensional images, and each measured two-dimensional image combination comprises two measured two-dimensional images;
and the processing module acquires the actual position coordinate and the precision value of the target to be detected by using the actual position coordinate combination.
Specifically, the vision measuring method includes:
and the processing module acquires an abnormal value in the actual position coordinate combination, and acquires the actual position coordinate and the precision value of the target to be detected after removing the abnormal value.
The camera of camera module includes 230 ten thousand pixel sensors, and the focus of camera is 3.2mm, and camera angle of vision is respectively: d is 152 degrees, V is 63 degrees, H is 114 degrees, and the camera frame rate is 120 fps;
the electronic hand book comprises a touch display screen, wherein the touch display screen collects touch gestures of a user, the touch gestures comprise a zooming gesture and a double-click gesture, the zooming gesture corresponds to a control instruction for zooming out and zooming in a two-dimensional image, and the double-click gesture corresponds to a control instruction for hiding and displaying an image position.
In order to improve the measurement accuracy, the vision measurement method comprises the following steps:
the camera module acquires an initial two-dimensional image,
the processing module identifies whether historical feature points exist in the initial two-dimensional image, and if so, actual position coordinates corresponding to the historical feature points are obtained;
the processing module acquires the actual position coordinate of the target to be detected by using the actual position coordinate of the historical characteristic point and the position relation between the historical characteristic point and the target characteristic point in the image;
the processing module identifies the feature points of the target to be measured in the re-shot measured two-dimensional image to acquire the image position of the target to be measured in the measured two-dimensional image;
the processing module acquires the actual position coordinate of the target to be measured according to the image positions, the positioning coordinate and the attitude information of all the targets to be measured and the position relation between the camera module and the RTK positioning module;
the processing module obtains the precision value of the actual position coordinate of the target to be measured according to the actual position coordinate of the target to be measured obtained through the historical feature points and the actual position coordinate of the target to be measured obtained through measuring the two-dimensional image, and the smaller the distance between the actual position coordinate of the target to be measured obtained through the historical feature points and the actual position coordinate of the target to be measured obtained through measuring the two-dimensional image, the higher the precision value is.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (10)
1. A vision measurement method for a measurement system, the measurement system including an RTK positioning module, a camera module, a processing module, an acquisition module, and an inertial measurement module, the vision measurement method comprising:
the RTK positioning module acquires positioning coordinates, and the inertia measurement module acquires RTK positioning module attitude data corresponding to the positioning coordinates and attitude data of the camera module;
the camera module shoots an initial two-dimensional image of a target to be detected;
the acquisition module acquires a selection instruction input by a user, wherein the selection instruction comprises an image position of a target to be detected on the initial two-dimensional image;
the processing module identifies characteristic points of a target to be detected in an image position in the initial two-dimensional image;
the camera module shoots the target to be measured again to obtain a plurality of measured two-dimensional images, the RTK positioning module obtains positioning coordinates and the inertia measurement module obtains attitude data, and each measured two-dimensional image corresponds to one group of positioning coordinates and attitude data;
the processing module identifies the feature points of the target to be measured in the re-shot measured two-dimensional image to acquire the image position of the target to be measured in the measured two-dimensional image;
and the processing module acquires the actual position coordinate of the target to be detected according to the image positions, the positioning coordinate and the attitude information of all the targets to be detected and the position relation between the camera module and the RTK positioning module.
2. The vision measuring method of claim 1, wherein the vision measuring method comprises:
the processing module acquires the actual position coordinate of the target to be measured and the precision value of the actual position coordinate according to the image position, the positioning coordinate, the attitude information of all the targets to be measured and the position relation between the camera module and the RTK positioning module, wherein the precision value comprises a horizontal positioning precision value and a vertical positioning precision value, and the precision value is acquired through the root mean square of the actual position coordinate.
3. The visual measurement method of claim 1, wherein the measurement system includes an RTK receiver including the RTK positioning module, the camera module, and an electronic phonebook including the acquisition module and the processing module, the electronic phonebook including a touch-sensitive display screen, the visual measurement method comprising:
the electronic hand book displays the initial two-dimensional image;
the electronic handprint collects a selection instruction input by a user through a touch display screen;
the RTK receiver acquires a plurality of measured two-dimensional images, acquires corresponding positioning coordinates and posture data of the measured two-dimensional images, and transmits the measured two-dimensional images, the positioning coordinates and the posture data to the electronic handbook;
the electronic hand book displays the measured two-dimensional image in real time, and calculates the actual position coordinate of the target to be measured in real time according to the measured two-dimensional image, the positioning coordinate and the attitude data;
the electronic notebook displays the latest actual position coordinates in real time through the touch display screen.
4. The vision measuring method of claim 3, comprising:
the touch display screen displays a processing interface;
the method comprises the steps that when a processing interface displays an initial two-dimensional image, a touch display screen collects a selection instruction input by a user;
the processing module acquires an image position according to the selection instruction and marks the image position on the initial two-dimensional image;
the processing interface displays a confirmation option and a abandonment option;
when the processing interface displays the measured two-dimensional images, the processing interface further comprises the actual position coordinates, the precision value of the actual position coordinates and the number of the measured two-dimensional images.
5. The vision measuring method of claim 1, wherein the vision measuring method comprises:
the processing module acquires camera coordinates of the camera module according to the positioning coordinates and the known relative position relationship between the RTK positioning module and the camera module;
the processing module calculates the actual position coordinate of the target to be measured according to the image position on the initial two-dimensional image, the image positions on the two measured two-dimensional images, the camera coordinate and the camera attitude information by utilizing a photogrammetry principle.
6. The vision measuring method of claim 5, wherein the vision measuring method comprises:
the processing module judges whether the number of the measured two-dimensional images is greater than or equal to 2, if so, the actual position coordinate combination is obtained by utilizing the image positions on the initial two-dimensional images and the combined image positions on all the measured two-dimensional images, and each measured two-dimensional image combination comprises two measured two-dimensional images;
and the processing module acquires the actual position coordinate and the precision value of the target to be detected by using the actual position coordinate combination.
7. The vision measuring method of claim 5, wherein the vision measuring method comprises:
and the processing module acquires an abnormal value in the actual position coordinate combination, and acquires the actual position coordinate and the precision value of the target to be detected after removing the abnormal value.
8. The vision measuring method of claim 1, wherein the camera of the camera module comprises 230 ten thousand pixel sensors, the focal length of the camera is 3.2mm, and the field angles of the camera are respectively: d is 152 degrees, V is 63 degrees, H is 114 degrees, and the camera frame rate is 120 fps;
the electronic handbook comprises a touch display screen, wherein the touch display screen acquires touch gestures of a user, the touch gestures comprise a zooming gesture and a double-click gesture, the zooming gesture corresponds to a control instruction for zooming out and zooming in the two-dimensional image, and the double-click gesture corresponds to a control instruction for hiding and displaying the position of the image.
9. The vision measuring method of claim 1, wherein the vision measuring method comprises:
the camera module acquires an initial two-dimensional image,
the processing module identifies whether historical feature points exist in the initial two-dimensional image, and if so, actual position coordinates corresponding to the historical feature points are obtained;
the processing module acquires the actual position coordinate of the target to be detected by using the actual position coordinate of the historical characteristic point and the position relation between the historical characteristic point and the target characteristic point in the image;
the processing module identifies the feature points of the target to be measured in the re-shot measured two-dimensional image to acquire the image position of the target to be measured in the measured two-dimensional image;
the processing module acquires the actual position coordinate of the target to be measured according to the image positions, the positioning coordinate and the attitude information of all the targets to be measured and the position relation between the camera module and the RTK positioning module;
the processing module obtains the precision value of the actual position coordinate of the target to be measured according to the actual position coordinate of the target to be measured obtained through the historical feature points and the actual position coordinate of the target to be measured obtained through measuring the two-dimensional image, and the smaller the distance between the actual position coordinate of the target to be measured obtained through the historical feature points and the actual position coordinate of the target to be measured obtained through measuring the two-dimensional image, the higher the precision value is.
10. An RTK receiver, characterized in that it comprises an RTK positioning module, a camera module and an inertia measurement module, and an electronic phonebook comprising a processing module and an acquisition module, the RTK receiver and the electronic phonebook being adapted to implement the vision measurement method of any one of claims 1 to 9.
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