CN211317298U - Single-camera measuring light pen - Google Patents
Single-camera measuring light pen Download PDFInfo
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- CN211317298U CN211317298U CN201922094167.XU CN201922094167U CN211317298U CN 211317298 U CN211317298 U CN 211317298U CN 201922094167 U CN201922094167 U CN 201922094167U CN 211317298 U CN211317298 U CN 211317298U
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Abstract
The utility model relates to a single-camera measuring light pen, which comprises a framework, a camera component arranged at the upper end of the framework, a probe component arranged at the lower end of the framework and a signal transmission component arranged at the middle part of the framework; the camera assembly is electrically connected with the signal transmission assembly. The utility model discloses cross the skeleton and combine single camera subassembly, probe subassembly and signal transmission subassembly together to mutually independent with the target that constitutes such as outside reflection of light mark point and luminous LED, make the target not confine on single camera measurement light pen, thereby can realize that the size and the quantity of target are all unrestricted, and then make the measuring range of single camera measurement light pen unrestricted, effectively promoted measurement accuracy, and enlarged application scope; meanwhile, based on a single camera assembly, the portable camera is simple in structure, light in weight and small in size, and portability of carrying is greatly improved.
Description
Technical Field
The utility model relates to a photogrammetry and location technical field, in particular to single-camera measuring light pen.
Background
In the measurement and positioning process using photography, a measuring light pen is usually used.
At present, the measuring light pen (CMM Probe for short) in the prior art is mainly divided into two major categories, one of which is that a three-coordinate measuring machine, a six-axis or eight-axis mechanical arm and the measuring light pen are integrated, and the positions of the probes of the measuring light pen are obtained by the mechanical motion devices through the rotation angle of a motor after mathematical transformation; the other is that the mark point, the luminous LED and the like (generally called as a target) and the measuring light pen are integrated, and the mark point or the luminous LED on the measuring light pen is tracked by a single camera, a double camera or a plurality of cameras, so as to calculate the position of the probe of the measuring light pen.
However, the two types of measuring light pens have the following defects:
the measuring range of the first type of measuring light pen is limited by the size of the mechanical movement device, and such devices are generally heavy and inconvenient to carry;
the number of targets on the second type of measuring optical pen is very limited, and the size of the targets is limited, so that the detection precision is greatly reduced; in addition, the tracking precision of a single camera is often not high (the main reason is that the target size is limited), while the tracking of a dual camera often requires a long enough distance between the two cameras, so that the size of the device is often very large, and the carrying convenience is limited; in addition, the field of view of the camera is limited, and the position of the camera needs to be kept still in both single-camera and dual-camera modes, so that the measurement range is limited by the field of view of the camera.
SUMMERY OF THE UTILITY MODEL
The utility model provides a single-camera measuring light pen has both solved the inconvenient technical problem who carries of current measuring light pen, has still solved the limited and not high technical problem of measurement accuracy of measurement range of current measuring light pen.
The utility model provides an above-mentioned technical problem's technical scheme as follows:
a single-camera measuring light pen comprises a framework, a camera assembly, a probe assembly and a signal transmission assembly, wherein the camera assembly is arranged at the upper end of the framework;
the camera assembly is electrically connected with the signal transmission assembly.
The utility model has the advantages that: the single camera component, the probe component and the signal transmission component are combined together through the framework and are mutually independent from targets formed by external reflecting mark points, luminous LEDs and the like, so that the targets are not limited on the single-camera measuring light pen, the size and the number of the targets are not limited, the measuring range of the single-camera measuring light pen is not limited, the measuring precision of the single-camera measuring light pen is effectively improved, and the application range is enlarged; meanwhile, based on a single camera component, the whole single-camera measuring light pen is simple in structure, light in weight and small in size, and portability of carrying is greatly improved.
On the basis of the technical scheme, the utility model discloses can also do as follows the improvement:
further: the camera assembly comprises a camera and a lens;
the camera is fixedly arranged at the upper end of the framework, and the lens is fixedly arranged on the front side of the camera;
the camera is electrically connected with the signal transmission assembly.
The beneficial effects of the further scheme are as follows: the camera and the lens are respectively fixedly arranged at the upper end of the framework, so that an external light reflecting mark point or an image of a light emitting LED can be conveniently obtained in the scanning process of the probe assembly, the size and the number of targets are not limited, the measuring range of the single-camera measuring light pen is not limited, the measuring precision is effectively improved, and the application range is expanded; meanwhile, portability of carrying is improved.
Further: the camera assembly further comprises a light source fixedly arranged on the front side of the lens.
The beneficial effects of the further scheme are as follows: through the light source arranged on the front side of the lens, image data with better quality can be acquired conveniently, so that more accurate pose of the camera can be obtained conveniently according to the image data with better quality, and the measurement precision is further improved.
Further: the signal transmission assembly comprises a conductive plate, a button, an IO control card and a plurality of interfaces;
the current conducting plate is fixedly arranged in the middle of the framework, and the button, the IO control card and all the interfaces are fixedly arranged on the current conducting plate and are electrically connected with the current conducting plate;
the button and the IO control card are respectively electrically connected with the camera.
Further: the interface comprises a power interface and a data interface, the power interface is electrically connected with an external power supply through a power line, and the data interface is electrically connected with an external computer through a data line.
The beneficial effects of the further scheme are as follows: the button is used for triggering the camera to start so that the camera starts to acquire an image of an external reflective mark point or a luminous LED; the IO control card is used for receiving a trigger signal for starting the camera, sending the trigger signal to the camera and transmitting image data acquired by the camera to an external computer, so that the pose of the camera can be acquired conveniently; the interface is used for receiving power supply of an external power supply and is also used for carrying out data transmission with an external computer; the button, the IO control card and all the interfaces are fixed together through the current conducting plate, the components are further convenient to be electrically connected with each other, smooth measurement and positioning are guaranteed, and the device is simple in structure and easy to carry.
Further: the probe assembly comprises a probe connector and a probe;
the probe joint is detachably arranged at the lower end of the framework, and the probe is fixedly arranged at the lower end of the probe joint and extends out of the probe joint.
Further: the probe comprises a probe metal rod and a probe arranged at the lower end of the probe metal rod.
The beneficial effects of the further scheme are as follows: through detachable probe joint, the change of the whole probe subassembly of being convenient for uses more in a flexible way, guarantees the smooth realization to the scanning of testee through the probe of probe lower extreme, simple structure, light in weight, small easily carry.
Further: the probe is made of ruby.
The beneficial effects of the further scheme are as follows: probes made of ruby scan and measure objects with greater accuracy.
Further: the probe is of a spherical structure.
Further: the diameter range of the probe is 1 mm-6 mm.
The beneficial effects of the further scheme are as follows: the probe with the spherical structure is used for scanning objects, can be suitable for measured objects with various shapes and structures, and is wider in application range and more accurate in measurement.
Drawings
Fig. 1 is a schematic structural diagram of a single-camera measurement light pen according to the present invention;
fig. 2 is a scene schematic diagram of the measurement process of the single-camera measurement light pen of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. skeleton, 2, camera subassembly, 3, probe subassembly, 4, signal transmission subassembly, 21, camera, 22, camera lens, 23, light source, 31, probe joint, 32, probe, 41, conductive plate, 42, button, 43, IO control card, 44, interface, 321, probe metal pole, 322, probe, 441, power source interface, 442, data interface.
Detailed Description
The principles and features of the present invention are described below in conjunction with the following drawings, the examples given are only intended to illustrate the present invention and are not intended to limit the scope of the present invention.
The present invention will be described with reference to the accompanying drawings.
In an embodiment, as shown in fig. 1, a single-camera measuring light pen includes a frame 1, a camera assembly 2 disposed at an upper end of the frame 1, a probe assembly 3 disposed at a lower end of the frame 1, and a signal transmission assembly 4 disposed at a middle portion of the frame 1;
the camera assembly 2 is electrically connected with the signal transmission assembly 4.
The probe assembly is used for scanning a measured object, the camera assembly is used for acquiring an image of an external reflective mark point or a light-emitting LED in the scanning process of the probe assembly, the signal transmission assembly is used for transmitting image data acquired by the camera assembly to an external computer, the position and the posture of the camera assembly are obtained through calculation of the external computer, and then the position coordinate of the probe assembly is obtained through coordinate conversion according to the relative position relation between the probe assembly and the camera assembly, so that the position coordinate of the measured object is obtained, and the positioning of the measured object is realized; wherein, the position and the gesture that the computer calculated the camera subassembly according to the image data that the camera subassembly acquireed are prior art, not the utility model discloses a key point.
The embodiment combines a single camera component, a probe component and a signal transmission component together through a framework, and is mutually independent with targets formed by external reflective mark points, luminous LEDs and the like, so that the targets are not limited on the single-camera measuring light pen, the size and the number of the targets are not limited, the measuring range of the single-camera measuring light pen is not limited, the measuring precision of the single-camera measuring light pen is effectively improved, and the application range is enlarged; meanwhile, based on a single camera component, the whole single-camera measuring light pen is simple in structure, light in weight and small in size, and portability of carrying is greatly improved.
Preferably, as shown in fig. 1, the camera assembly 2 includes a camera 21 and a lens 22;
the camera 21 is fixedly arranged at the upper end of the framework 1, and the lens 22 is fixedly arranged at the front side of the camera 21;
the camera 21 is electrically connected to the signal transmission member 4.
The camera and the lens are respectively fixedly arranged at the upper end of the framework, so that an external light reflecting mark point or an image of a light emitting LED can be conveniently obtained in the scanning process of the probe assembly, the size and the number of targets are not limited, the measuring range of the single-camera measuring light pen is not limited, the measuring precision is effectively improved, and the application range is expanded; meanwhile, portability of carrying is improved.
Specifically, the lens in the present embodiment uses a lens having a field angle of not less than 40 degrees and not more than 100 degrees, and too small a field angle easily causes too small a field range, which may reduce the positioning accuracy, while too large a field angle in the market generally has a large distortion, which may also reduce the positioning accuracy.
Preferably, as shown in fig. 1, the camera assembly 2 further includes a light source 23, and the light source 23 is fixedly disposed at a front side of the lens 22.
Through the light source arranged on the front side of the lens, image data with better quality can be acquired conveniently, so that more accurate pose of the camera can be obtained conveniently according to the image data with better quality, and the measurement precision is further improved.
Specifically, the specific parameters of the light source in this embodiment are adjusted according to the actual operating environment.
Preferably, as shown in fig. 1, the signal transmission assembly 4 comprises a conductive plate 41, a button 42, an IO control card 43 and a plurality of interfaces 44;
the conductive plate 41 is fixedly arranged in the middle of the framework 1, and the button 42, the IO control card 43 and all the interfaces 44 are fixedly arranged on the conductive plate 41 and electrically connected with the conductive plate 41;
the button 42 and the IO control card 43 are electrically connected to the camera 21, respectively.
Preferably, as shown in fig. 1, the interface 44 includes a power interface 441 and a data interface 442, the power interface 441 is electrically connected to an external power source through a power line, and the data interface 442 is electrically connected to an external computer through a data line.
The button is used for triggering the camera to start so that the camera starts to acquire an image of an external reflective mark point or a luminous LED; the IO control card is used for receiving a trigger signal for starting the camera, sending the trigger signal to the camera and transmitting image data acquired by the camera to an external computer, so that the pose of the camera can be acquired conveniently; the interface is used for receiving power supply of an external power supply and is also used for carrying out data transmission with an external computer; the button, the IO control card and all the interfaces are fixed together through the current conducting plate, the components are further convenient to be electrically connected with each other, smooth measurement and positioning are guaranteed, and the device is simple in structure and easy to carry.
Preferably, as shown in fig. 1, the probe assembly 3 comprises a probe connector 31 and a probe 32;
the probe connector 31 is detachably arranged at the lower end of the framework 1, and the probe 32 is fixedly arranged at the lower end of the probe connector 31 and extends out of the probe connector 31.
Preferably, as shown in fig. 1, the probe 32 includes a probe metal rod 321 and a probe head 322 disposed at a lower end of the probe metal rod 321.
Through detachable probe joint, the change of the whole probe subassembly of being convenient for uses more in a flexible way, guarantees the smooth realization to the scanning of testee through the probe of probe lower extreme, simple structure, light in weight, small easily carry.
Preferably, the probe 322 is made of ruby.
Probes made of ruby scan and measure objects with greater accuracy.
Preferably, the probe 322 is a spherical structure.
Specifically, the diameter of the probe 322 ranges from 1mm to 6 mm.
The probe with the spherical structure is used for scanning objects, can be suitable for measured objects with various shapes and structures, and is wider in application range and more accurate in measurement.
Specifically, in this embodiment, the working principle and the working flow of the whole single-camera measuring light pen are as follows:
1. a matched auxiliary measurement scene is preset, the auxiliary measurement scene is a large scene which is not easy to deform, such as an indoor wall, a steel structure scaffold, an indoor supporting column and the like, which are collectively called as a stable reference body, a large number of reflective mark points are required to be adsorbed on the surface of the stable reference body to serve as a target, and the pasting range of the target is required to be larger than the visual field range of a monocular camera, for example, the range of 3-20 meters, as shown in fig. 2;
2. pre-calibrating parameters such as internal and external orientation elements, lens distortion and the like of the camera and the relative position between a camera shooting center and a probe (or a probe);
3. three-dimensional object space coordinates of all the light-reflecting mark points are measured in advance and organized into a data format of (point serial numbers (X, Y, Z));
4. during measurement, the camera always faces the wall, so that no less than 3 reflective mark points are always in the visual field range of the camera, the button is pressed, the camera shoots the reflective mark points on the wall, the image of the reflective mark points is transmitted to the computer end, the image point coordinates of the reflective mark points in the image are extracted, and the image point is matched with the object point;
specifically, the position and the posture of the camera at the moment of shooting can be calculated by knowing internal and external orientation elements (including line elements and angle elements), lens distortion parameters, and image point coordinates and three-dimensional object coordinates of a light reflection mark point through single image space rear intersection (also called P3P or PnP algorithm, and Perspective 3Points or Perspective N Points); the relative position between the imaging center and the probe (or the probe) is known, and the three-dimensional space coordinates of the probe (or the probe) can be obtained through coordinate conversion.
The single image space back intersection is based on a single image, and 6 external orientation elements (X) of the image at the aerial photography time are solved according to a collinear condition equation from the known ground coordinates of a plurality of control points in the ground range covered by the image and the measured value of the image coordinates of the corresponding pointsS、YS、ZS、
ω and κ). Due to each image spaceAnd 2 equations can be listed with the object conjugate point, so if 3 control points with known ground coordinates exist, 6 equations can be listed, and the correction numbers of 6 external orientation elements are solved.
For example, the following relationships are known:
wherein k is1、k2And k3Are all radial distortion parameters, p1And p2Are all the parameters of the eccentric distortion,xandycorrection values for the distortion of the coordinates of the image point in the x-direction and the y-direction, respectively, (x)0,y0) Is the coordinate of the main point, (x, y) is the coordinate of the image point of the reflecting mark point, and r is the radial direction of the image point and satisfies
The set of equations for the single image space back intersection is then established as follows:
wherein f is the main distance of the camera, and (X, Y, Z) is the three-dimensional object coordinate of the reflecting mark point, and (X)S,YS,ZS) Is a line element, and is characterized in that,
both omega and kappa are angular elements,
is the course inclination angle of the photo, omega is the sidewise inclination angle of the photo, kappa is the rotation angle of the photo, ai、biAnd ci(i-1, 2,3) are all twiddle factors.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.
Claims (10)
1. The single-camera measuring light pen is characterized by comprising a framework (1), a camera component (2) arranged at the upper end of the framework (1), a probe component (3) arranged at the lower end of the framework (1) and a signal transmission component (4) arranged in the middle of the framework (1);
the camera component (2) is electrically connected with the signal transmission component (4).
2. Single camera measuring light pen according to claim 1, characterized in that the camera assembly (2) comprises a camera (21) and a lens (22);
the camera (21) is fixedly arranged at the upper end of the framework (1), and the lens (22) is fixedly arranged at the front side of the camera (21);
the camera (21) is electrically connected with the signal transmission component (4).
3. Single camera measuring light pen according to claim 2, characterized in that the camera assembly (2) further comprises a light source (23), which light source (23) is fixedly arranged at the front side of the lens (22).
4. Single camera measurement light pen according to claim 2, characterized in that the signal transmission assembly (4) comprises a conductive board (41), a button (42), an IO control card (43) and a plurality of interfaces (44);
the conductive plate (41) is fixedly arranged in the middle of the framework (1), and the button (42), the IO control card (43) and all the interfaces (44) are fixedly arranged on the conductive plate (41) and are electrically connected with the conductive plate (41);
the button (42) and the IO control card (43) are electrically connected with the camera (21) respectively.
5. The single-camera measuring light pen according to claim 4, characterized in that the interface (44) comprises a power interface (441) and a data interface (442), the power interface (441) being electrically connected to an external power source via a power line, the data interface (442) being electrically connected to an external computer via a data line.
6. Single camera measuring light pen according to one of the claims 1 to 5, characterized in that the probe assembly (3) comprises a probe joint (31) and a probe (32);
probe connects (31) detachably to be set up the lower extreme of skeleton (1), probe (32) are fixed to be set up the lower extreme of probe connects (31) and stretches out outside probe connects (31).
7. Single camera measurement light pen according to claim 6, characterized in that the probe (32) comprises a probe metal rod (321) and a probe head (322) arranged at the lower end of the probe metal rod (321).
8. Single camera measuring light pen according to claim 7, characterized in that the probe head (322) is made of ruby.
9. The single camera measurement light pen according to claim 7, characterized in that the probe head (322) is of spherical structure.
10. The single camera measuring light pen according to claim 9, characterized in that the diameter of the probe head (322) ranges from 1mm to 6 mm.
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| CN201922094167.XU CN211317298U (en) | 2019-11-28 | 2019-11-28 | Single-camera measuring light pen |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113358098A (en) * | 2021-05-13 | 2021-09-07 | 武汉中观自动化科技有限公司 | Portable detection method and system based on intelligent reverse positioning |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113358098A (en) * | 2021-05-13 | 2021-09-07 | 武汉中观自动化科技有限公司 | Portable detection method and system based on intelligent reverse positioning |
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