CN214308596U

CN214308596U - Measuring and positioning device based on image recognition

Info

Publication number: CN214308596U
Application number: CN202022592800.0U
Authority: CN
Inventors: 李怀东
Original assignee: Shanghai Yiwei Semiconductor Co ltd
Current assignee: Shanghai Yiwei Semiconductor Co ltd
Priority date: 2019-08-24
Filing date: 2019-09-30
Publication date: 2021-09-28
Anticipated expiration: 2029-09-30
Also published as: CN212109898U; CN112433225A; CN214308595U; CN214308594U; CN112432593A

Abstract

The utility model discloses a measurement and positioner based on image recognition, wherein, measurement and positioner include image recognition device, and wherein image recognition device includes the optical camera, treats measurement station or the signal that the location is corresponding through the identification of optical camera to according to the mapping relation between light sensitive element and the reference coordinate system, the coordinate information of waiting to measure the actual of station or the location is calculated in the conversion, according to coordinate information, realizes the purpose of measuring and fixing a position.

Description

Measuring and positioning device based on image recognition

The application is filed in 2019, 9, 30 and entitled "a measuring and positioning device based on image recognition", which is a divisional case of a patent application of the Chinese utility model with the application number of 201921704421.7.

Technical Field

The utility model relates to a range finding and location technical field, concretely relates to measurement and positioner based on image recognition.

Background

When the existing distance measuring instrument product is used for measuring distance, the measurement or the positioning needs to be carried out through point-to-point single time. When the specific measurement or positioning step is implemented, firstly, a reference point and a target point are found on the surface of the measured object, secondly, the measuring equipment is placed on the reference point, and the target point is found in a mode of manually measuring or converting the optical time into the distance, so that the whole measuring process is completed. For the task of measurement and positioning which can be completed only by multiple measurements, the measurement process needs to be repeated for multiple times, and by the prior art, repeated measurement not only easily causes the defects of large measurement error, long measurement or positioning time, low efficiency and the like, but also easily causes higher labor cost.

SUMMERY OF THE UTILITY MODEL

In order to solve the measurement or the location on the current range finding and positioning method defect such as long time, inefficiency and cost of labor height, the utility model provides a method and device based on image recognition realize the target of quick range finding and location.

According to an aspect of the present invention, there is provided a measurement method based on image recognition, the method comprising the steps of:

setting at least three measuring reference points in a reference plane, and acquiring reference image information of the reference plane by using an image recognition device; wherein the at least three measurement reference points constitute a closed two-dimensional figure in the reference plane, and the reference image information includes position information of the three measurement reference points and size information of the two-dimensional figure;

establishing a reference coordinate system in the image recognition device by using the reference image information, wherein the reference coordinate system has a mapping relation with a photosensitive element array in the image recognition device;

marking a first point to be measured and a second point to be measured in the reference plane;

acquiring position information of the first point to be measured and the second point to be measured in the photosensitive element array by using the image recognition device;

and mapping the position information of the first point to be measured and the second point to be measured in the photosensitive element array to the reference coordinate system, and calculating the distance between the first point to be measured and the second point to be measured.

Preferably, the reference plane includes: a wall, ceiling, or floor.

Preferably, the step of setting at least three measurement reference points in the reference plane includes: four measurement reference points are set in the reference plane.

Preferably, the step of setting four measurement reference points in the reference plane includes: and setting four corners as the four measuring reference points on the rectangular wall surface.

Preferably, the step of acquiring the reference image information of the reference plane by using the image recognition device includes: the image recognition device acquires the position information of the four measurement reference points by recognizing optical signals or pattern marks at the positions of the four measurement reference points.

Preferably, the step of acquiring the position information of the four measurement reference points by the image recognition device through an optical signal recognizing the positions of the four measurement reference points includes: the optical signal is emitted by an identification device which can be moved arbitrarily in the reference plane.

Preferably, the step of acquiring the position information of the four measurement reference points by the image recognition device through an optical signal recognizing the positions of the four measurement reference points includes: the optical signal projects a laser spot into the reference plane by a projection device that is integrated with the image recognition device or that is independent of the image recognition device.

Preferably, the step of acquiring, with the image recognition device, position information of the four measurement reference points in the reference image information of the reference plane includes: the image recognition device acquires the position information of the four measurement reference points by recognizing the pattern marks at the positions of the four measurement reference points, wherein the pattern marks cannot actively send out optical signals.

Preferably, the step of marking the point to be measured in the plane to be measured includes: and identifying the pattern mark with a specific color and/or a specific shape at the position of the point to be measured by the image identification device to mark the point to be measured, wherein the pattern mark comprises a yellow pentagram and a red cross line.

Preferably, the step of acquiring the reference image information of the reference plane by using the image recognition device includes: and obtaining the size information of the two-dimensional graph through a measuring tool or an independent mobile terminal.

Preferably, the step of acquiring, by the image recognition apparatus, size information of the two-dimensional figure in reference image information of a reference plane includes: the image recognition device passes through the laser ranging module, and the visual angle of photosensitive element with the laser emission direction that the laser ranging module sent, and calculate by trigonometric function and acquire the size information of two-dimensional figure, wherein, the laser ranging module with image recognition device relative position is fixed.

Preferably, the step of marking the first point to be measured and the second point to be measured in the reference plane includes: the first point to be measured or the second point to be measured is located on the boundary of the two-dimensional graph.

Preferably, the step of marking the first point to be measured and the second point to be measured in the reference plane includes: and identifying the optical signals of the positions of the first point to be measured and the second point to be measured by the image identification device.

Preferably, the step of identifying the optical signals of the positions of the first point to be measured and the second point to be measured by the image identification device includes: the optical signal is emitted by an identification device, which is freely movable in the reference plane.

Preferably, the step of identifying the optical signals of the positions of the first point to be measured and the second point to be measured by the image identification device includes: the optical signal projects a laser spot into the reference plane by a projection device that is integrated with the image recognition device or that is independent of the image recognition device.

Preferably, the step of marking the first point to be measured and the second point to be measured in the reference plane includes: and identifying pattern marks at the positions of the first point to be measured and the second point to be measured by the image identification device, wherein the pattern marks can not actively send out optical signals.

Preferably, the step of marking the first point to be measured and the second point to be measured in the reference plane includes: and identifying pattern marks of specific colors and/or specific shapes at the positions of the first point to be measured and the second point to be measured by the image identification device, wherein the pattern marks comprise yellow pentagons and red cross lines.

Preferably, the method further comprises: marking a third point to be measured, and calculating the distance between the third point to be measured and the first point to be measured and/or the second point to be measured.

According to another aspect of the present invention, there is provided a positioning method based on image recognition, the method comprising the steps of:

setting at least three positioning reference points in a reference plane, and acquiring reference image information of the reference plane by using an image recognition device; the at least three positioning reference points form a closed two-dimensional graph in a plane to be measured, and the reference image information comprises position information of the three positioning reference points and size information of the two-dimensional graph;

marking a first reference point in the reference plane;

acquiring the position information of the first comparison point in the photosensitive element array by using the image recognition device, and mapping the position information of the first comparison point in the photosensitive element array into the reference coordinate system;

and continuously correcting the coordinate information of the first comparison point according to the known coordinate information of the point to be positioned until the coordinate information of the first comparison point is consistent with the coordinate information of the point to be positioned.

Preferably, the step of setting at least three positioning reference points in the reference plane includes: and setting four positioning reference points in the reference plane.

Preferably, the reference plane includes: a wall, ceiling, or floor.

Preferably, the step of setting four positioning reference points in the reference plane includes: and setting four corners as the four positioning datum points on the rectangular wall surface.

Preferably, the step of acquiring the reference image information of the reference plane by using the image recognition device includes: and the image recognition device acquires the position information of the four positioning reference points by recognizing the optical signals or pattern marks at the positions of the four positioning reference points.

Preferably, the step of acquiring the position information of the four positioning reference points by the image recognition device through an optical signal recognizing the positions of the four positioning reference points includes: the optical signal is emitted by an identification device, which is freely movable in the reference plane.

Preferably, the step of acquiring the position information of the four positioning reference points by the image recognition device through an optical signal recognizing the positions of the four positioning reference points includes: the optical signal projects a laser spot into the reference plane by a projection device that is integrated with the image recognition device or that is independent of the image recognition device.

Preferably, the step of marking a first reference point in the reference plane includes: and identifying the first comparison point by the image identification device, wherein the pattern identification mark comprises a yellow pentagram and a red cross line, and the pattern identification mark comprises a specific color and/or a specific shape at the position of the first comparison point.

Preferably, the step of acquiring, by the image recognition apparatus, size information of the two-dimensional figure in reference image information of a reference plane includes: and obtaining the size information of the two-dimensional graph through a measuring tool or an independent mobile terminal.

Preferably, the step of marking a first reference point in the reference plane includes: and marking the first comparison point by the optical signal of the position of the first comparison point identified by the image identification device.

Preferably, the step of marking the first comparison point by the optical signal for identifying the position of the first comparison point by the image identification device includes: the optical signal is emitted by an identification device, which is freely movable in the reference plane.

Preferably, the step of marking the first comparison point by the optical signal for identifying the position of the first comparison point by the image identification device includes: the optical signal projects a laser spot into the reference plane by a projection device that is integrated with the image recognition device or that is independent of the image recognition device.

Preferably, the step of projecting the laser spot into the reference plane by the projection device with the optical signal comprises: the projection device can automatically correct the position of the projection laser point in the reference plane according to the feedback of the image recognition device.

Preferably, the step of marking a first reference point in the reference plane includes: and identifying the first comparison point by the pattern identifier at the position of the first comparison point through the image identification device, wherein the pattern identifier cannot actively send out an optical signal.

Preferably, the method further comprises: marking a second comparison point and a second to-be-positioned point, and correcting the coordinate information of the second comparison point until the coordinate information of the second comparison point is consistent with the coordinate information of the second to-be-positioned point.

According to the utility model discloses a still another aspect provides measurement and positioner based on image recognition, wherein, measurement and positioner includes image recognition device, image recognition device includes the photosensitive element array, wherein, image recognition device discerns the signal that awaits measuring the point in the reference plane and/or compare and correspond and establish reference coordinate system, according to reference coordinate system with mapping relation between the photosensitive element array, calculate wait to measure the point and/or compare the actual coordinate information of point, according to coordinate information calculates and/or rectifies, realizes measuring and/or location.

Preferably, the photosensitive element is a CCD image sensor, a CMOS image sensor, a matrix APD, a matrix PIN tube, or a matrix silicon photocell.

Preferably, the measuring and locating device further comprises: an identification device free to move within the reference plane.

Preferably, the identification means comprises an optical emission module, which may be an infrared light emitting diode, a far infrared light emitting diode, or a laser light emitting diode.

Preferably, the measuring and locating device further comprises: a projection device for projecting the laser spot to an arbitrary position in the reference plane, the projection device being integrated with the image recognition device or independent of the image recognition device.

Preferably, the projection means automatically corrects the position of the projected laser spot in the reference plane based on feedback from the image recognition means.

Preferably, the measuring and locating device further comprises: a pattern marker recognizable by the image recognition device, wherein the pattern marker does not have a function of actively emitting an optical signal.

Preferably, the measuring and locating device further comprises: a pattern identifier of a specific color and/or a specific shape, the pattern identifier being recognizable by the image recognition device, wherein the pattern identifier comprises a yellow five-pointed star, a red cross-hair.

Preferably, the image recognition apparatus further includes: the laser ranging module, the laser ranging module with image recognition device relative position is fixed, the image recognition device pass through the laser ranging module measure the optical camera with the vertical distance of reference plane, and photosensitive element's visual angle with laser ranging module laser emission direction is calculated by trigonometric function and is obtained the dimensional information of reference plane.

Preferably, the method further comprises the following steps: the target face plate freely moves in the reference plane and is used for determining the position relation between the image recognition device and the reference plane; the line projecting module continuously projects a laser cross line and is used for determining the position relation between the image recognition device and the reference plane.

Preferably, the image recognition device is calibrated before factory shipment, and the size information of the reference plane can be converted according to different distances between the optical camera and the reference plane.

Preferably, the measuring and positioning device is further provided with a display system capable of displaying the coordinate information of the point to be measured and/or the comparison point in real time.

Preferably, the image recognition device further comprises a communication module, the coordinate information of the point to be measured and/or the reference point is displayed on a mobile terminal independent of the image recognition device, and the mobile terminal is in communication connection with the image recognition device through the communication module.

Preferably, the measuring and positioning device further comprises an input device and a communication module, the input device is a mobile terminal independent of the image recognition device, and the mobile terminal is in communication connection with the image recognition device through the communication module.

According to a further aspect of the present invention, there is provided a measurement method based on image recognition, the method comprising the steps of:

the image recognition device acquires the distance between the image recognition device and a plane to be detected;

establishing a reference coordinate system by combining a preset mapping relation according to the distance between the image recognition device and the plane to be detected, wherein the mapping relation is established according to a photosensitive element array in the image recognition device, a preset plane and a preset distance between the image recognition device and the preset plane;

marking a point to be measured in the plane to be measured;

and acquiring the position information of the point to be measured mapped into the photosensitive element array by using the image recognition device, mapping the position information of the point to be measured in the photosensitive element array into the reference coordinate system, and calculating the distance between the point to be measured and any position point in the plane to be measured.

Preferably, the plane to be measured includes: a wall, ceiling, or floor.

Preferably, the step of marking the point to be measured in the plane to be measured includes: and identifying the optical signal of the position of the point to be measured by the image identification device.

Preferably, the step of identifying the optical signal of the position of the point to be measured by the image identification device includes: the optical signal is emitted by an identification device which can be moved arbitrarily in the reference plane.

Preferably, the step of identifying the optical signal of the position of the point to be measured by the image identification device includes: the optical signal projects a laser spot into the plane to be measured by a projection device which is integrated in the image recognition device or which is independent of the image recognition device.

Preferably, the calculating a distance between the point to be measured and any position point in the plane to be measured includes: the arbitrary position point is a point on the boundary of the plane to be measured.

Preferably, the arbitrary position point is a point on the boundary of the plane to be measured, and includes: and one point on the boundary of the plane to be measured is a vertical intersection point of the point to be measured and the plane to be measured.

Preferably, the method further comprises: and marking a second point to be measured, and calculating the distance between the second point to be measured and any position in the plane to be measured.

marking comparison points in the plane to be measured;

acquiring the position information of the reference point in the photosensitive element array by using the image recognition device, and mapping the position information of the reference point in the photosensitive element array into the reference coordinate system;

and continuously correcting the coordinate information of the comparison point according to the known coordinate information of the point to be positioned until the coordinate information of the comparison point is consistent with the known coordinate information of the point to be positioned.

Preferably, the reference plane includes: a wall, ceiling, or floor.

Preferably, the step of marking the reference point in the plane to be measured includes: and marking the reference point by the optical signal for identifying the position of the reference point by the image identification device.

Preferably, the step of marking the reference point by the optical signal for identifying the position of the reference point by the image recognition device includes: the optical signal is sent out through an identification device, and the identification device can move freely in the plane to be measured.

Preferably, the step of marking the reference point by the optical signal for identifying the position of the reference point by the image recognition device includes: the optical signal projects a laser spot into the plane to be measured by a projection device which is integrated in the image recognition device or which is independent of the image recognition device.

Preferably, the step of projecting the laser spot into the plane to be measured by the projection device with the optical signal comprises: the projection device can automatically correct the position of the projection laser point in the plane to be measured according to the feedback of the image recognition device.

Preferably, the step of marking the reference point in the plane to be measured includes:

the image recognition device recognizes the specific color and/or specific shape pattern identification mark of the position of the reference point, wherein the pattern identification mark comprises yellow pentagram and red cross line.

The features of the invention disclosed in the above description can be important both individually and in any desired combination in the realization of the invention.

Drawings

Fig. 1 is a schematic flow chart of the measurement method of the present invention through image recognition.

Fig. 2 is a schematic structural diagram of the measurement device for image recognition according to the present invention.

Fig. 3 is a schematic flow chart of another measuring method of the present invention through image recognition.

Fig. 4 is a schematic flow chart of another positioning method according to the present invention.

Fig. 5 is a schematic flow chart of another measuring method of the present invention through image recognition.

Fig. 6 is a schematic structural diagram of another measuring device for image recognition according to the present invention.

Fig. 7 is a schematic flow chart of another positioning method according to the present invention.

Fig. 8 is a schematic flow chart of another measurement method of the present invention through image recognition.

Fig. 9 is a schematic flow chart of another positioning method according to the present invention.

Fig. 10 is a schematic flow chart of another measurement method of the present invention through image recognition.

Fig. 11 is a schematic flow chart of another positioning method according to the present invention.

Detailed Description

The invention will be further elucidated below in connection with exemplary embodiments of the invention. It should be noted that the description of the exemplary embodiments is only for the purpose of aiding understanding of the present invention, and does not constitute a limitation to the scope of the present invention.

In the following description, specific details are provided to facilitate a thorough understanding of example embodiments. However, it will be understood by those of ordinary skill in the art that the example embodiments may be practiced without these specific details.

With reference to fig. 1 and 2, an embodiment of a measuring method by image recognition is schematically illustrated according to the invention.

Step S101: the dimensions, such as height and width, of the rectangular wall surface 13 are measured using a laser rangefinder, ranging wheel, ruler, tape measure, or other measuring tool. When measuring the wall dimensions, it is necessary to obtain accurate information about the proximity of the wall 13, while allowing the profile of the wall 13 to form a closed measurement area. For special cases, such as wall surface mounted with other objects, these interference factors need to be avoided during measurement. The size information of the wall surface 13 is used as basic data for measurement and is used as size information of reference image information for image recognition.

In some embodiments, the wall surface 13 may be other surface of the object to be measured, such as a vertical background surface, a ceiling surface. The profile of the wall surface 13 may be other irregular shapes such as circular, hexagonal.

In some embodiments, the information about the surface of the object under test is known, for example, a design drawing has been obtained, and this step can be omitted.

Step S102: the identification device 11 is moved to a corner position of the wall 13, the control switch of the identification device 11 is turned on, and the infrared light emitting diode emits an optical signal which is recognized by the optical camera 102. The corner position is used as the first measurement reference point, and the identification device is moved to the other three corner positions of the wall surface 13 in the same manner to obtain the other three measurement reference points. The identification device 11 comprises an infrared light-emitting diode, a control switch, a display screen, a power supply module and a shell. The identification means 11 are freely movable on the wall surface 13. The light emitting diode is controlled to be started and closed by the control switch. The optical camera 102 may acquire position information of four corners by identifying an optical signal corresponding to the measurement reference point, and establish a reference coordinate system by combining the size information of the wall surface 13 in step S101, and establish a mapping relationship between the reference coordinate system and the CCD image sensor. The mapping relationship is established by pre-factory setting.

In some embodiments, the optical signal is a specific band of invisible light that can be identified.

In some embodiments, the optical signal is visible light that cannot be filtered by the image recognition device and thus recognized.

In some embodiments, the measurement reference points may be six, eight or more, and are distributed around the perimeter of the wall.

In some embodiments, the identification device 11 may be a pattern identifier, which has no function of actively sending out an optical signal, and the pattern identifier is a specific color and/or a specific shape, such as a red cross line or a yellow five-pointed star, and the optical camera 102 may recognize the pattern identifier to obtain the position information of the measurement reference point, and in combination with the size information of the wall surface 13 in step S101, establish a reference coordinate system, and enable the reference coordinate system to establish a mapping relationship with the CCD image sensor.

In some embodiments, the identification device 11 may be a laser emitting device, such as a laser pointer, and the optical camera 102 may identify a laser point projected by the laser pointer to the wall surface 13, so as to obtain the position information of the measurement reference point, and in combination with the size information of the wall surface 13 in step S101, establish a reference coordinate system, and enable a mapping relationship to be established between the reference coordinate system and the CCD image sensor array.

In some embodiments, the infrared light emitting diode may be a far infrared light emitting diode or a laser light emitting diode, etc. The display screen can be a display screen of other terminal equipment, such as a display screen of a mobile phone. The reference coordinate system may be a polar coordinate system or the like.

Step S103: the size information of the wall surface 13 is input to the image recognition apparatus 10 through the input apparatus 101. The input device 101 is a device integrated on the image recognition device 10, and the image recognition device 10 includes the input device 101, an optical camera 102, and a main controller, a CCD image sensor array, a communication module, a power supply module, and a housing, which are not shown. The communication module, the power module and the main controller are electrically connected.

In some embodiments, the input device 101 may be another independent input device, such as a mobile terminal. The size information of the wall surface 13 is obtained through the mobile terminal, for example, the information of the design drawing of the wall surface 13 is directly obtained. The mobile terminal and the image recognition device 10 import information into the image recognition device 10 through wired or wireless communication.

In some embodiments, the mobile terminal may obtain information of the wall surface 13 through the APP and import the information into the image recognition apparatus 10 through the APP.

In some embodiments, the CCD image sensor array may be other arrays of photosensitive elements, such as CMOS image sensor array, matrix APD array, matrix PIN array, matrix silicon photo cell array.

Step S104: the identification device 11 is moved to a first point to be measured on the wall surface, the infrared light emitting diode is controlled by the control switch to send out a first optical signal, and the identification device is moved to a second point to be measured in the same way to send out a second optical signal. The first optical signal and the second optical signal are recognized by the optical camera 102, so that the position information in the CCD image sensor array is obtained, and the actual distance between two points to be measured can be obtained by mapping the position information to the reference coordinate system, thereby achieving the effect of measuring the distance between the points to be measured.

In some embodiments, the distance between the plurality of points to be measured can be measured by moving the identification device 11 to three or more points to be measured on the wall surface.

In some embodiments, the measurement of the distances between the sets of feature points may be achieved by repeating step S104 above.

With reference to fig. 3, an embodiment of a measuring method by image recognition is schematically shown according to the invention.

Step S201: the size of the wall surface, i.e., the size information of the reference image information, is measured, referring to S101.

Step S202: the image recognition apparatus acquires the size information of the wall surface by the input apparatus, and refers to S103.

Step S203: and acquiring position information of the four corners, establishing a reference coordinate system, establishing a mapping relation between the reference coordinate system and the CCD image sensor array, and referring to S102.

Step S204: marking the first point to be measured and the second point to be measured, further acquiring the position information in the CCD image sensor array, and mapping the position information into the reference coordinate system to obtain the actual distance between the two points to be measured, referring to S104.

In some embodiments, the distance between the multiple points to be measured can be measured by moving the identification device to three or more points to be measured on the wall surface.

In some embodiments, the measurement of the distances between the sets of feature points may be achieved by repeating step S204 above.

On the basis of the above embodiments, as shown in fig. 4, an embodiment of a positioning method by image recognition is schematically shown according to the present invention.

Step S301: the size of the wall surface, i.e., the size information of the reference image information, is measured, referring to S101.

Step S302: and acquiring position information of the four corners, establishing a reference coordinate system, establishing a mapping relation between the reference coordinate system and the CCD image sensor array, and referring to S102.

Step S303: the image recognition apparatus acquires the size information of the wall surface by the input apparatus, and refers to S103.

In some embodiments, the contents of step S302 and step S303 are interchanged, i.e., step S302 and step S303 do not have a precedence order.

Step S304: and inputting the coordinate information of the point to be positioned through an input device.

In some embodiments, the input device may be another independent input device, such as a mobile terminal. And inputting the coordinate information of the to-be-positioned point through the mobile terminal.

In some embodiments, the mobile terminal may obtain coordinate information of a point to be located through the APP.

In some embodiments, the coordinate information of the point to be located may be directly read, which is not required.

Step S305: and the mobile identification device continuously corrects the actual position information of the identification device through movement and feedback until the actual position information displayed at the position is consistent with the input or directly read coordinate information of the point to be positioned, and the actual position of the identification device on the wall is the actual position of the point to be positioned on the wall, so that the positioning purpose is realized.

In some embodiments, the positioning of a plurality of points to be positioned may be achieved by repeating the above steps S304 and S305 a plurality of times.

On the basis of the above embodiments, as shown in fig. 5 and 6, an embodiment of a measuring method by image recognition is schematically shown according to the present invention.

Step S401: the laser distance measuring module 403 is arranged opposite to the wall surface 43, the image recognition device 40 is rotated in a small range up and down around the plane parallel to the wall surface 43, the value displayed on the laser distance measuring module 403 is changed back and forth around a minimum value along with the rotation, the position corresponding to the minimum value is the position of the optical camera 402 vertical to the wall surface, and the vertical distance between the optical camera 402 and the wall surface 43 is measured at the position through the laser distance measuring module 403. The image recognition device 40 includes an input device 401, an optical camera 402, a laser ranging module 403, a main controller, a CCD image sensor, a communication module, a power module, and a housing. The laser ranging module 403 and the optical camera 402 are fixed in relative positions and located on the same plane. The communication module, the power module and the main controller are electrically connected.

Step S402: because the equipment is set before leaving the factory, namely the calibration between the visible angle of the CCD image sensor and the laser ranging emission direction is carried out in advance, the recognizable range of the optical camera 402 can be calculated according to the vertical distance between the calibrated optical camera and the measured wall surface, and the size of the recognizable range or the accurate size of the wall surface 43 can be obtained by adjusting the distance between the image recognition device 40 and the wall surface 43 forwards and backwards when the recognizable range covers the whole wall surface or completely coincides with the wall surface.

The specific calculation process is as follows:

and testing and calibrating and fixing the < a and the < b before delivery. Assuming that the vertical distance D from the optical camera 302 to the wall surface 33, the height H of the wall surface 43 can be calculated in the following manner. According to the right-angle trigonometric function relation and in combination with fig. 6, there are:

H1＝D·tan∠a，

H2＝D·tan∠b，

H＝H1+H2＝D·(tan∠a+tan∠b)。

similarly, the width of the wall surface can be calculated. The size of the wall surface 43 is obtained from the height and width, and automatically recorded in the image recognition device 40.

In some embodiments, in step S402, when the recognizable range coincides with the wall surface portion, a size coinciding with the wall surface portion may be obtained.

Step S403: and acquiring position information of the four corners, establishing a reference coordinate system, establishing a mapping relation between the reference coordinate system and the CCD image sensor array, and referring to S102.

Step S404: marking the first point to be measured and the second point to be measured, further acquiring the position information in the CCD image sensor array, and mapping the position information into the reference coordinate system to obtain the actual distance between the two points to be measured, referring to S104.

In some embodiments, the distance between the plurality of points to be measured can be measured by moving the identification device to 3 or more points to be measured on the wall surface.

In some embodiments, the measurement of the distances between the sets of feature points may be achieved by repeating step S404 above.

On the basis of the above embodiment, as shown in fig. 7, it schematically shows an embodiment of a positioning method by image recognition according to the present invention.

Step S501: and measuring the vertical distance between the optical camera and the wall surface through the laser ranging module, and referring to the step S401.

Step S502: the size information of the wall surface is automatically acquired, referring to step S402.

Step S503: and acquiring position information of the four corners, establishing a reference coordinate system, establishing a mapping relation between the reference coordinate system and the CCD image sensor array, and referring to S102.

Step S504: and inputting the coordinate information of the point to be positioned through an input device.

Step S505: and the mobile identification device continuously corrects the actual position information of the identification device through movement and feedback until the actual position information displayed at the position is consistent with the input or directly read coordinate information of the point to be positioned, and the actual position of the identification device on the wall is the actual position of the point to be positioned on the wall, so that the positioning purpose is realized.

In some embodiments, the positioning of a plurality of points to be positioned may be achieved by repeating the above steps S504 and S505 a plurality of times.

On the basis of the above embodiment, as shown in fig. 8, it schematically shows an embodiment of a measuring method by image recognition according to the present invention.

Step S601: the target panel is placed on a wall surface, for example, the wall surface is located 30 cm above the same horizontal line of the line-casting module. The target face plate comprises a mark, such as a cross line mark, and the target face plate can freely move on the wall surface.

Step S602: the line throwing module is opposite to the wall surface and continuously throws out the laser cross line. The line-casting module can cast a laser cross line with a fixed angle. In some embodiments, the routing module can project laser marks of other shapes. The line-casting module is fixed with the optical camera and is positioned on the same surface of the shell. And moving the image recognition device back and forth until the laser cross line projected by the line projection module is superposed with the cross line mark of the target face plate. According to the right-angle trigonometric function relationship and the fixed position relationship of the line projection module and the optical camera, the vertical distance between the optical camera and the wall surface can be known. The image recognition device comprises an input device, an optical camera, a line projection module, a main controller, a CCD image sensor, a communication module, a power supply module and a shell.

Step S603: the size information of the wall surface is automatically acquired, referring to step S402.

Step S604: and acquiring position information of the four corners, establishing a reference coordinate system, establishing a mapping relation between the reference coordinate system and the CCD image sensor array, and referring to S102.

Step S605: marking the first point to be measured and the second point to be measured, further acquiring the position information in the CCD image sensor array, and mapping the position information into the reference coordinate system to obtain the actual distance between the two points to be measured, referring to S104.

In some embodiments, the measurement of the distances between the sets of feature points may be achieved by repeating step S605 above.

On the basis of the above embodiment, as shown in fig. 9, it schematically shows an embodiment of a positioning method by image recognition according to the present invention.

Step S701: the target surface plate is placed on the wall surface, in step S601.

Step S702: the position of the image recognition apparatus with respect to the wall surface is determined, referring to step S602.

Step S703: the size information of the wall surface is automatically acquired, referring to step S603.

Step S704: and acquiring position information of the four corners, establishing a reference coordinate system, establishing a mapping relation between the reference coordinate system and the CCD image sensor array, and referring to S102.

Step S705: and inputting the coordinate information of the point to be positioned through an input device.

Step S706: and the mobile identification device continuously corrects the actual position information of the identification device through movement and feedback until the actual position information displayed at the position is consistent with the input or directly read coordinate information of the point to be positioned, and the actual position of the identification device on the wall is the actual position of the point to be positioned on the wall, so that the positioning purpose is realized.

In some embodiments, the positioning of a plurality of points to be positioned may be achieved by repeating the above steps S705 and S706 a plurality of times.

On the basis of the above embodiments, the following embodiments are explained according to the present invention.

Step S801: the size of the wall surface, i.e., the size information of the reference image information, is measured, referring to S101. And (3) placing the image recognition device at an equal proportional distance compared with 1 meter according to the proportional relation between the size of the wall surface and the size of the wall surface of the test sample before the image recognition device leaves the factory. The setting method before the image recognition device leaves the factory is as follows:

a test sample wall surface with known size information is preset, the vertical distance from an optical camera of the image recognition device is 1 meter, and four wall corners of the test sample wall surface are provided with four measuring reference points. And the image recognition device establishes the corresponding relation between the size information of the wall surface of the test sample, the position information of the wall corners of the wall surface of the four test samples and 1 meter according to the position information of the four measuring reference points.

In some embodiments, the four corners of the test sample wall have pattern markings that can be recognized by the optical camera.

Step S802: and acquiring position information of the four corners, establishing a reference coordinate system, establishing a mapping relation between the reference coordinate system and the CCD image sensor array, and referring to S102. Wherein the mapping relationship is established according to the settings before leaving the factory: and correspondingly converting the size information recognized by the optical camera in equal proportion according to the comparison between the vertical distance between the optical camera of the image recognition device and the wall surface and 1 meter. The image recognition device establishes the corresponding relation among the size information recognized by the optical camera, the position information of the four corners, the vertical distance between the optical camera and the wall surface and the corresponding relation among the size information, the position information of the four corners and the vertical distance between the optical camera and the wall surface according to the position information of the four corners.

Step S803: marking the first point to be measured and the second point to be measured, further acquiring position information in the CCD image sensor array, mapping the position information into a reference coordinate system, and obtaining an actual distance between the two points to be measured according to the corresponding relation among the size information identified by the optical camera, the position information of the four corners of the wall, and the vertical distance between the optical camera and the wall surface, referring to S104.

In some embodiments, the measurement of the distances between the sets of feature points may be achieved by repeating step S803 above.

Step S901: the size of the wall surface, i.e., the size information of the reference image information is measured, and refer to S801.

Step S902: and acquiring position information of the four corners, establishing a reference coordinate system, establishing a mapping relation between the reference coordinate system and the CCD image sensor array, and referring to S802.

Step S903: and inputting the coordinate information of the point to be positioned through an input device.

Step S904: and the mobile identification device continuously corrects the actual position information of the identification device through movement and feedback until the actual position information displayed at the position is consistent with the input or directly read coordinate information of the point to be positioned, and the actual position of the identification device on the wall is the actual position of the point to be positioned on the wall, so that the positioning purpose is realized.

In some embodiments, the positioning of a plurality of points to be positioned may be achieved by repeating the above steps S903 and S904 a plurality of times.

Step S1001: and placing an image recognition device to enable the maximum boundary recognized by the optical camera to completely cover the wall surface. The image recognition device is set before leaving a factory, and the setting method comprises the following steps:

a test sample wall surface with known size information is preset, the vertical distance from an optical camera of the image recognition device is 1 meter, and the test sample wall surface completely covers the recognition range of the optical camera. And finding the maximum boundary identified by the optical camera, and acquiring the position information and the size information of the maximum boundary by the image identification device. The image recognition apparatus establishes a relationship in which the position information and the size information of the maximum boundary correspond to 1 meter.

Step S1002: and establishing a reference coordinate system according to the maximum boundary identified by the optical camera, establishing a mapping relation between the reference coordinate system and the CCD image sensor array, and referring to S102. Wherein the mapping relationship is established according to the settings before leaving the factory: and correspondingly converting the size information recognized by the optical camera in equal proportion according to the comparison of the vertical distance between the optical camera of the image recognition device and the wall surface and 1 meter. The image recognition device establishes the corresponding relation between the size information recognized by the optical camera and the vertical distance between the optical camera and the wall surface according to the position information of the maximum boundary.

In some embodiments, an identification device with a fixed length and two ends capable of emitting optical signals is arranged in a wall, and the optical signals are acquired through an image recognition device, so that a reference coordinate system is established according to the length of the identification device, and a mapping relation is established between the reference coordinate system and a CCD image sensor array.

In some embodiments, the fixed length identification device may emit a plurality of optical signals;

in some embodiments, the fixed length identification means is retractable in length;

step S1003: marking the first point to be measured and the second point to be measured, further acquiring position information in the CCD image sensor array, mapping the position information into a reference coordinate system, and obtaining an actual distance between the two points to be measured according to the corresponding relation between the size information identified by the optical camera and the vertical distance between the optical camera and the wall surface, referring to S104.

In some embodiments, the measurement of the distances between the sets of feature points may be achieved by repeating step S1003 above.

Step S1101: and placing an image recognition device to enable the maximum boundary recognized by the optical camera to completely cover the wall surface. Refer to S1001.

Step S1102: and inputting coordinate information of the point to be positioned relative to the wall surface through an input device.

In some embodiments, the coordinate information of the point to be located relative to the wall surface can be directly read, and this step is not required.

Step S1103: and the mobile identification device finds the coordinates of the origin of the wall coordinate system and records the coordinate information of the origin.

Step S1104: and the mobile identification device continuously corrects the position information of the identification device relative to the reference coordinate system through movement and feedback until the actual position information displayed at the position is consistent with the coordinate information which is input or directly read and is superposed with the coordinate information of the point to be positioned relative to the wall surface and the original point coordinate information, and the actual position of the identification device on the wall is the actual position of the point to be positioned relative to the wall surface, so that the positioning purpose is realized.

In some embodiments, the positioning of a plurality of points to be positioned may be achieved by repeating the above steps S1102, S1103, and S1104 a plurality of times.

On the basis of the above embodiment, as shown in fig. 10, it schematically shows an embodiment of a measuring method by image recognition according to the present invention.

Step S1201: the size of the wall surface, i.e., the size information of the reference image information, is measured, referring to S101.

Step S1202: and acquiring position information of the four corners, establishing a reference coordinate system, establishing a mapping relation between the reference coordinate system and the CCD image sensor array, and referring to S102.

Step S1203: the image recognition apparatus acquires the size information of the wall surface by the input apparatus, and refers to S103.

In some embodiments, the contents of step S1202 and step S1203 are interchanged.

Step S1204: the projection device can be manually controlled to project laser points and can also be controlled to project the laser points according to instructions of the image recognition device.

The projection device manually projects a first laser point and a second laser point, the positions of the first laser point and the second laser point are the positions of a first point to be measured and a second point to be measured, further position information in the CCD image sensor array is obtained, and the position information is mapped into the reference coordinate system, so that the actual distance between the two points to be measured can be obtained, and the reference S104 is referred.

In some embodiments, the projection device is independent of the image recognition device.

In some embodiments, the measurement of the distance between the multiple points to be measured can be achieved by projecting the 3 rd laser point or more.

In some embodiments, the measurement of the distances between the sets of feature points may be achieved by repeating step S1204 above.

On the basis of the above embodiment, as shown in fig. 11, it schematically shows an embodiment of a positioning method by image recognition according to the present invention.

Step S1301: the size of the wall surface, i.e., the size information of the reference image information, is measured, referring to S101.

Step S1302: and acquiring position information of the four corners, establishing a reference coordinate system, establishing a mapping relation between the reference coordinate system and the CCD image sensor array, and referring to S102.

Step S1303: the image recognition apparatus acquires the size information of the wall surface by the input apparatus, and refers to S103.

In some embodiments, the contents of step S1302 and step S1303 are interchanged.

Step S1304: and inputting the coordinate information of the point to be positioned through an input device.

Step S1305: the projection device can be manually controlled to project laser points and can also be controlled to project the laser points according to instructions of the image recognition device.

The projection device projects a laser point to a wall surface, the laser point is identified through the optical camera, the image identification device controls the laser point projected by the projection device according to the coordinate information of the laser point, the laser point is continuously close to the coordinate information of a point to be positioned, the actual position information of the projected laser point is continuously fed back and corrected until the actual position information displayed at the position of the projected laser point is consistent with the input or directly read coordinate information of the point to be positioned, and the actual position of the laser point on the wall surface is the actual position of the point to be positioned on the wall surface, so that the positioning purpose is realized.

In some embodiments, the projection device projects a horizontal and a vertical intersecting laser line onto the wall, the two laser lines showing a horizontal position and a vertical position.

In some embodiments, the projection device projects two intersecting laser lines onto the wall surface, and the angles of the two intersecting laser lines can be set according to needs.

In some embodiments, the positioning of a plurality of points to be positioned may be achieved by repeating the above steps S1304 and S1305 a plurality of times.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all modifications and equivalent variations made to the above embodiments according to the present invention are within the scope of the present invention.

Claims

1. A measuring and locating device based on image recognition, wherein,

the measuring and locating device comprises an image recognition device, the image recognition device comprising a photosensitive element,

the measuring and positioning device can measure the size of the plane to be measured;

the measuring and locating device further comprises a pattern marking of a specific color and/or a specific shape, which pattern marking is recognizable by the image recognition device.

2. The measurement and positioning device according to claim 1, wherein the photosensitive element is a CCD image sensor, a CMOS image sensor, a matrix APD, a matrix PIN tube, and/or a matrix silicon photocell.

3. The measuring and positioning device of claim 1, further comprising an optical camera, wherein the image recognition device further comprises a laser ranging module, the laser ranging module is fixed relative to the image recognition device, and the laser ranging module measures a vertical distance between the optical camera and the plane to be measured.

4. The measuring and locating device of claim 1, further comprising an input device and a communication module, wherein the input device is a mobile terminal independent of the image recognition device, and the mobile terminal is communicatively connected with the image recognition device through the communication module.

5. A measuring and positioning device according to claim 3, characterized in that the optical camera identifies the position of the pattern identifier.

6. The measuring and positioning device according to any one of claims 1-4, further comprising a control switch, a display screen, a power module and a housing.