CN101033950A - Measurement method of three-dimensional surface shape of rock - Google Patents
Measurement method of three-dimensional surface shape of rock Download PDFInfo
- Publication number
- CN101033950A CN101033950A CN 200710039112 CN200710039112A CN101033950A CN 101033950 A CN101033950 A CN 101033950A CN 200710039112 CN200710039112 CN 200710039112 CN 200710039112 A CN200710039112 A CN 200710039112A CN 101033950 A CN101033950 A CN 101033950A
- Authority
- CN
- China
- Prior art keywords
- rock
- measurement
- space
- measured
- image
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
A method measurement for the three-dimensional topography of the rock surface, firstly, it establishes the relations function between the pixels and actual space coordinates based on the actual position coordinates space of reference object and the pixel space coordinates of reference image shot by at least two cameras, secondly, projects the raster formed from grating with default phase to the to-be-measured rock in order to divided the surface of to-be-measured rock into different measurement space, thirdly, shoots the image of the above mentioned rock surface and then match the image pixels shot before for the same name in order to acquire the corresponding pixel coordinates of the measurement space in all the images in shooting, finally, calculates actual space coordinates of the corresponding measurement points based on the above mentioned pixel space coordinates of all measurement space and function. So it can acquire the three-dimensional topography of the rock surface automatically, quickly and efficiently.
Description
Technical field
The present invention relates to a kind of measuring method of surface three-dimensional appearance of rock.
Background technology
The measuring method of measuring the rock surface pattern at present mainly contains two kinds, i.e. Mechanical Contact formula and laser without contact measuring method.
Mechanical Contact formula measuring method is a kind of direct measuring method, measure earlier during its each measurement the volume coordinate of a single point, rely on the mechanical hook-up traverse measurement to be popped one's head in then and obtain the volume coordinate of a plurality of points on the whole plane, so as seen, the three-dimensional feature of rock surface needs to be obtained by the data combination of a plurality of points, and whole measuring process was both time-consuming, and the image data amount is few again, also very easily be subjected to the influence of physical construction simultaneously, be difficult to directly effectively obtain three-dimensional feature on the rock surface.
And the laser without contact measuring method adopts principle of triangulation, according to selected element light source or line source, each volume coordinate of measuring each point on a measuring point or the survey line, rely on mechanical hook-up to move gauge head then and obtain on the whole rock surface data on the many parallel surveys line, again its combination is obtained the three-dimensional feature of rock surface, this method wants fast with respect to the mechanical type measuring method, but whole measurement is still very time-consuming, and the data of gathering are limited, moreover, laser probe will be installed on the mechanical hook-up, so it is also bigger influenced by physical construction, equally also is difficult to directly obtain the three-dimensional feature of rock surface.
Therefore, how effectively to obtain the rock surface shape characteristic automatically and become the technical task that those skilled in the art need to be resolved hurrily in fact.
Summary of the invention
The object of the present invention is to provide a kind of measuring method of surface three-dimensional appearance of rock, to realize quick measurement to the rock surface shape characteristic.
In order to achieve the above object, the invention provides a kind of measuring method of surface three-dimensional appearance of rock, it comprises step: 1) the picture point volume coordinate of the described object of reference image of taking according to the real space azimuthal coordinates of object of reference and at least two video cameras is set up the funtcional relationship of picture point and real space coordinate; 2) the formed grid of grating that will have a preset phase is projected to object to be measured so that described rock surface to be measured is divided into a plurality of measurement spaces; 3) described at least two video cameras are taken the image of the rock surface described to be measured that has been split into a plurality of measurement spaces; 4) picture point of the image that described at least two video cameras are captured is separately carried out the coupling of same place to obtain the picpointed coordinate of each measurement space in captured image; 5) calculate the real space coordinate of corresponding each measurement space to obtain the three-dimensional appearance of described rock surface to be measured according to the picture point volume coordinate and the described funtcional relationship of described each measurement space.
Wherein, also comprise step: (1) judges whether to carry out the further segmentation of measurement space to described object surfaces to be measured again, if then change the phase place of described grid, repeating step 3 then) and step 4), described object of reference is the standard point on the calibrating block, and the coded message of described grid is the discrete binary coded message.
In sum, the measuring method of surface three-dimensional appearance of rock of the present invention is by dividing the real space coordinate of measuring each measurement space to the measurement space of rock surface, and then can obtain the three-dimensional appearance feature of described rock surface, realize the measurement of object appearance feature fast and effectively.
Description of drawings
Fig. 1 is the synoptic diagram of the measuring method of surface three-dimensional appearance of rock of the present invention.
Fig. 2 is the basic procedure synoptic diagram of the measuring method of surface three-dimensional appearance of rock of the present invention.
Fig. 3 a to 3d is the synoptic diagram that grid is projected to rock surface in the measuring method of surface three-dimensional appearance of rock of the present invention.
Fig. 4 is that rock surface a bit concerns synoptic diagram in the XOZ plane and between two video cameras in the measuring method of surface three-dimensional appearance of rock of the present invention.
Fig. 5 is the synoptic diagram of the light channel structure of surface three-dimensional appearance of rock measuring method of the present invention.
Embodiment
See also Fig. 1 and Fig. 2, the measuring method of surface three-dimensional appearance of rock of the present invention is a kind of triangulation method of active, it is earlier by the projection of digital raster projection arrangement, throw the structured light of a series of continuous striateds at rock surface, the spatial information of tested rock becomes striated pattern through structure light coding, by left and right cameras is that camera 1 and camera 2 are noted, through phase calculation and coupling, utilize external parameters of cameras to ask for the three-dimensional coordinate of spatial point according to matching result, bring coordinate into surface three-dimensional appearance of rock CALCULATION OF PARAMETERS formula, obtain the surface three-dimensional appearance of rock parameter, below will the measuring method of surface three-dimensional appearance of rock of the present invention be further described.
Execution in step S10 at first, the funtcional relationship that the picture point volume coordinate of the described object of reference image of taking according to the real space azimuthal coordinates of object of reference and at least two video cameras is set up picture point and real space coordinate (promptly obtains the internal system parameter, as lens focus etc.), for example, usually the standard point on the employing calibrating block is as object of reference, because the point between each standard point is apart from fixing, by a distance being measured and the image slices space of points coordinate of captured each standard point, principle by photogrammetry calculates related parameter values, can set up the funtcional relationship of picture point volume coordinate and real space coordinate thus, in the present embodiment, adopt two video camera photographic images, then execution in step S11.
In step S11, the formed grid of grating that will have preset phase is projected to rock to be measured so that described rock surface to be measured is divided into a plurality of measurement spaces, usually grating adopts and presets light and shade (the being black and white) lattice that (initially) phase place is the striated of 0 degree, and each light and shade lattice is represented with binary coding 1 and 0 respectively, see also Fig. 3 a, adopt the optical grating projection device that described grid is projected to described rock surface to be measured, then described rock surface to be measured is divided into 2 measurement spaces, when survey crew improves the measuring accuracy of described rock surface, it can change the width of grid, see also Fig. 3 b, then described rock surface to be measured is divided into 4 measurement spaces, Fig. 3 c is divided into 8 measurement spaces, Fig. 3 c is divided into 16 measurement spaces, therefore those skilled in the art can require to adopt different in width grid, then execution in step S12 according to realistic accuracy.
In step S12, two video cameras are taken the image of the rock surface described to be measured that has been split into a plurality of measurement spaces, then execution in step S13.
In described step S13, the picture point of the image that two video cameras are captured is separately carried out the coupling of same place to obtain the corresponding picpointed coordinate of each measurement space in the image of each shooting, promptly find out at one time with condition under, the picture point of the correspondence of same measuring object in left and right cameras.
As Fig. 4,1 P is at world coordinate system O in the space
WX
WY
WZ
WFollowing coordinate is P (X
W, Y
W, Z
W).
Left side camera coordinate system O
1X
1Y
1Z
1, be initial point O with left video camera photocentre
1, optical axis is O
1Z
1Axle, X
1Y
1Face is parallel to the coordinate system of the left plane of delineation, and effective focal length is f
1Right camera coordinate system O
2X
2Y
2Z2 is initial point O with right video camera photocentre
2, optical axis is O
2Z
2Axle, X
2Y
2Face is parallel to the coordinate system of the right plane of delineation, and effective focal length is f
2The coordinate of some P in left camera coordinate system and right camera coordinate system is respectively P
1(X
1, Y
1, Z
1) and P
2(X
2, Y
2, Z
2).
Left side image coordinate system O
aX
aY
aBe with optical axis O
1Z
1Intersection point O with the plane of delineation
aBe initial point, X
aY
aAxle is parallel to the X of left camera coordinate system
1Y
1Axle; Right image coordinate system O
bX
bY
bBe with optical axis O
2Z
2Intersection point O with the plane of delineation
bBe initial point, X
bY
bAxle is parallel to the X of right camera coordinate system
2Y
2Axle.Point P is at left image coordinate system O
aX
aY
aWith right image coordinate system O
bX
bY
bIn coordinate be respectively P
a(X
a, Y
a) and P
b(X
b, Y
b).
Pixel coordinates is the coordinate system on computer picture plane, and initial point is unit in the screen upper left corner with the pixel.Point P is C in left pixel coordinates
1U
1V
1With right pixel coordinates be C
2U
2V
2In coordinate be respectively P
C(U
1, V
1) and P
C(U
2, V
2).
The example that is converted to left video camera correspondence is tied to camera coordinate system from world coordinates, has:
Wherein rotation matrix R and translation matrix T are respectively:
Be tied to image coordinate system from camera coordinates, have:
Be tied to pixel coordinates system from image coordinate, have
U
1＝U
01+X
a/dx V
1＝V
01+Y
a/dy (3)
In the formula, (U
01, V
01) be the pixel coordinates of initial point in pixel coordinates system of image coordinate system, its approximate value is the picture centre pixel coordinates; Dx, dy: the distance of directions X and Y direction between the sensor adjacent image point.
Wherein, R, T, f
a, (U
01, V
01), dx, dy is the inner parameter of system, can obtain in demarcation.
In like manner can obtain the world coordinate system conversion formula of camera coordinate system to the right, about the mutual comparatively validate of result that obtains, finish the coupling of same place, then execution in step S14.
In step S14, the real space coordinate that calculates corresponding each measurement point according to each picture point volume coordinate of described each measurement space and described funtcional relationship to be obtaining the three-dimensional appearance of described rock surface to be measured,
With reference to figure 5, R is reference planes, and promptly working as tested rock surface is absolute smooth face, and C is a ccd video camera camera lens photocentre, and P is an optical projection system camera lens photocentre, and G is a projection grating.H is any point on the testee, and it is projected as H ' on reference surface, and the length of line segment HH ' is h, i.e. the height of H.A, B point is respectively the intersection point of H point and two photocentre lines and reference surface.Incident ray shines the A point on the reference planes R, put testee after, this irradiate light is to the H point of tested rock surface, observe from imaging surface this moment, the A point just moves on to new position B point, and distance A B has just carried elevation information h (xy), promptly has been subjected to the modulation of surface configuration.Therefore, optical grating projection is arrived tested rock surface, owing to deformed by the surface configuration modulation, show as the function of position that A on the reference surface, B are ordered, this function is relevant with the geometric parameter of system, promptly with video camera photocentre to reference surface relevant apart from d with the video camera photocentre apart from l, optical projection system photocentre.
Because Δ HBA is similar to Δ HCP, so there is following formula to set up
Z
1＝h(x)+C (5)
Obtained the elevation information of rock surface distance reference face to be measured by (4) formula, can calculate Z by (5) formula
1And Z
2Value, the inverse function of combinatorial formula (3), (2), (1) again can obtain the three-dimensional information (6) of rock surface to be measured, then execution in step S15.
In step S15, judge whether to carry out the further division of measurement space to described object surfaces to be measured, if execution in step S16 then, otherwise finish.For example, in measuring process to rock surface, for improving measuring accuracy to the rock surface pattern, usually adopt 4 phase measurements, promptly need to adopt respectively the grating pair rock surface of 0 degree, 90 degree, 180 degree and 270 degree phase places to measure, therefore in the present embodiment, obviously still need the surface of rock is carried out the further division of measurement space.
In step S16, adjust the phase place of described grating, the phase place that is about to described grating is adjusted certain angle, execution in step S12 then.
In sum, the measuring method of surface three-dimensional appearance of rock of the present invention carries out obtaining after the division of measurement space the picture point volume coordinate of corresponding each measurement space by adopting grating pair object surfaces to be measured, calculate the real space coordinate of corresponding measurement space then according to the funtcional relationship of picpointed coordinate of setting up in advance and real space coordinate, and then obtain the three-dimensional appearance feature of rock surface to be measured, realize automatic measurement to the rock surface pattern.
Claims (4)
1) a kind of measuring method of surface three-dimensional appearance of rock is characterized in that comprising step:
2) the picture point volume coordinate of the described object of reference image of taking according to the real space azimuthal coordinates of object of reference and at least two video cameras is set up the funtcional relationship of picture point and real space coordinate;
3) the formed grid of grating that will have a preset phase is projected to object to be measured so that described rock surface to be measured is divided into a plurality of measurement spaces;
4) described at least two video cameras are taken the image of the rock surface described to be measured that has been split into a plurality of measurement spaces;
5) picture point of the image that described at least two video cameras are captured is separately carried out the coupling of same place to obtain the corresponding picpointed coordinate of each measurement space in the image of each shooting;
6) calculate the real space coordinate of corresponding each measurement space to obtain the three-dimensional appearance of described rock surface to be measured according to each the picture point volume coordinate and the described funtcional relationship of described each measurement point.
2. the measuring method of surface three-dimensional appearance of rock as claimed in claim 1, it is characterized in that also comprising step: (1) judges whether to carry out the division of measurement space to described object surfaces to be measured again, if then change the phase place of described grid, repeating step 3 then) and step 4).
3. the measuring method of surface three-dimensional appearance of rock as claimed in claim 1, it is characterized in that: described object of reference is the standard point on the calibrating block.
4. the measuring method of surface three-dimensional appearance of rock as claimed in claim 1, it is characterized in that: described grid has the discrete binary coded message.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710039112 CN101033950A (en) | 2007-04-04 | 2007-04-04 | Measurement method of three-dimensional surface shape of rock |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710039112 CN101033950A (en) | 2007-04-04 | 2007-04-04 | Measurement method of three-dimensional surface shape of rock |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101033950A true CN101033950A (en) | 2007-09-12 |
Family
ID=38730610
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200710039112 Pending CN101033950A (en) | 2007-04-04 | 2007-04-04 | Measurement method of three-dimensional surface shape of rock |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101033950A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101261114B (en) * | 2008-04-13 | 2010-06-16 | 徐春云 | Multi-lens measurement method |
| CN102331240A (en) * | 2010-06-03 | 2012-01-25 | 索尼公司 | Testing fixture and inspection method |
| CN103411563A (en) * | 2013-09-06 | 2013-11-27 | 南开大学 | Acquisition method and system for three-dimensional information |
| CN106556350A (en) * | 2016-11-30 | 2017-04-05 | 殷跃锋 | A kind of measuring method and microscope of microslide curved surface height value |
| CN106556541A (en) * | 2016-09-28 | 2017-04-05 | 同济大学 | A kind of test method for studying shearing overall process Rock Joint Plane Morphology Evolution |
| CN106969708A (en) * | 2017-04-20 | 2017-07-21 | 华侨大学 | A kind of detection means and method of aggregate quality morphology |
| CN108885167A (en) * | 2016-03-05 | 2018-11-23 | 米纳莱泽有限公司 | System and method for analyzing core sample |
| CN109794425A (en) * | 2018-12-29 | 2019-05-24 | 深圳大学 | The sorter and method of retired battery based on phase measurement D profile detection |
| CN110472475A (en) * | 2019-06-19 | 2019-11-19 | 特斯联（北京）科技有限公司 | A kind of public space planning management system and method based on intelligent Target identification |
| CN112344877A (en) * | 2020-11-11 | 2021-02-09 | 东北大学 | Device and method for measuring three-dimensional morphology parameters of large rock mass structural plane by unmanned aerial vehicle |
-
2007
- 2007-04-04 CN CN 200710039112 patent/CN101033950A/en active Pending
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101261114B (en) * | 2008-04-13 | 2010-06-16 | 徐春云 | Multi-lens measurement method |
| CN102331240A (en) * | 2010-06-03 | 2012-01-25 | 索尼公司 | Testing fixture and inspection method |
| CN102331240B (en) * | 2010-06-03 | 2017-06-23 | 重机自动化系统有限公司 | Check device and inspection method |
| CN103411563A (en) * | 2013-09-06 | 2013-11-27 | 南开大学 | Acquisition method and system for three-dimensional information |
| CN103411563B (en) * | 2013-09-06 | 2016-01-13 | 南开大学 | A kind of acquisition methods of three-dimensional information and system |
| CN108885167A (en) * | 2016-03-05 | 2018-11-23 | 米纳莱泽有限公司 | System and method for analyzing core sample |
| CN106556541B (en) * | 2016-09-28 | 2019-01-25 | 同济大学 | It is a kind of for study shearing overall process Rock Joint Plane Morphology Evolution test method |
| CN106556541A (en) * | 2016-09-28 | 2017-04-05 | 同济大学 | A kind of test method for studying shearing overall process Rock Joint Plane Morphology Evolution |
| WO2018098833A1 (en) * | 2016-11-30 | 2018-06-07 | 殷跃锋 | Height measuring and estimation method of uneven surface of microscope slide, and microscope |
| CN106556350A (en) * | 2016-11-30 | 2017-04-05 | 殷跃锋 | A kind of measuring method and microscope of microslide curved surface height value |
| CN106556350B (en) * | 2016-11-30 | 2019-08-09 | 殷跃锋 | The measuring method and a kind of microscope of microscopic slide curved surface height value |
| CN106969708A (en) * | 2017-04-20 | 2017-07-21 | 华侨大学 | A kind of detection means and method of aggregate quality morphology |
| CN106969708B (en) * | 2017-04-20 | 2023-03-07 | 华侨大学 | Device and method for detecting morphological quality of aggregate |
| CN109794425A (en) * | 2018-12-29 | 2019-05-24 | 深圳大学 | The sorter and method of retired battery based on phase measurement D profile detection |
| CN110472475A (en) * | 2019-06-19 | 2019-11-19 | 特斯联（北京）科技有限公司 | A kind of public space planning management system and method based on intelligent Target identification |
| CN112344877A (en) * | 2020-11-11 | 2021-02-09 | 东北大学 | Device and method for measuring three-dimensional morphology parameters of large rock mass structural plane by unmanned aerial vehicle |
| CN112344877B (en) * | 2020-11-11 | 2022-02-01 | 东北大学 | Device and method for measuring three-dimensional morphology parameters of large rock mass structural plane by unmanned aerial vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101033950A (en) | Measurement method of three-dimensional surface shape of rock | |
| US7342669B2 (en) | Three-dimensional shape measuring method and its device | |
| CN113205593B (en) | High-light-reflection surface structure light field three-dimensional reconstruction method based on point cloud self-adaptive restoration | |
| JP3983573B2 (en) | Stereo image characteristic inspection system | |
| US8265376B2 (en) | Method and system for providing a digital model of an object | |
| US7015951B1 (en) | Picture generating apparatus and picture generating method | |
| CN111473739A (en) | Video monitoring-based surrounding rock deformation real-time monitoring method for tunnel collapse area | |
| CN107328502B (en) | Anchor rod tray load visualization digital imaging method | |
| WO1991015924A1 (en) | Computer assisted video surveying and method therefor | |
| CN102798456B (en) | Method, device and system for measuring working amplitude of engineering mechanical arm support system | |
| Gao et al. | Tunnel contour detection during construction based on digital image correlation | |
| CN111192235A (en) | Image measuring method based on monocular vision model and perspective transformation | |
| JP2015021862A (en) | Three-dimensional measurement instrument and three-dimensional measurement method | |
| CN102538708A (en) | Measurement system for three-dimensional shape of optional surface | |
| CN113205592A (en) | Light field three-dimensional reconstruction method and system based on phase similarity | |
| CN1648601A (en) | Method and device for measuring multiple spot dynamic flexibility/displacement by self caliberating self coding imaging method | |
| CN104976968A (en) | Three-dimensional geometrical measurement method and three-dimensional geometrical measurement system based on LED tag tracking | |
| WO2022078440A1 (en) | Device and method for acquiring and determining space occupancy comprising moving object | |
| CN112254680B (en) | Multi freedom's intelligent vision 3D information acquisition equipment | |
| CN112595236A (en) | Measuring device for underwater laser three-dimensional scanning and real-time distance measurement | |
| JPWO2014181581A1 (en) | Calibration apparatus, calibration system, and imaging apparatus | |
| CN1620153A (en) | Method of implementing non-measuration digital camera calibration using plane control point field | |
| CN1141670C (en) | 3D tracking and measurement method of moving objects by 2D code | |
| CN112254638A (en) | Intelligent visual 3D information acquisition equipment that every single move was adjusted | |
| US8102516B2 (en) | Test method for compound-eye distance measuring apparatus, test apparatus, and chart used for the same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20070912 |