CN101832773A - Three-dimensional landform observing device - Google Patents
Three-dimensional landform observing device Download PDFInfo
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- CN101832773A CN101832773A CN 201010144655 CN201010144655A CN101832773A CN 101832773 A CN101832773 A CN 101832773A CN 201010144655 CN201010144655 CN 201010144655 CN 201010144655 A CN201010144655 A CN 201010144655A CN 101832773 A CN101832773 A CN 101832773A
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Abstract
The invention discloses a device capable of observing a three-dimensional ditch slope micro landform in real time, which belongs to the field of landform measurement and consists of a landform positioning device and an image data acquiring device, wherein the landform positioning device consists of a measuring bridge, a laser spot emitting device and a voltage stabilizing direct current power supply; and the image data acquiring device consists of a computer and a camera which is provided with a laser collimator. The measuring bridge consists of horizontal linear laser modules, a laser module micro adjustment bracket, a measuring bridge main beam, a measuring bridge cover plate and a power supply circuit, wherein the horizontal linear laser modules are arranged on the measuring bridge main beam in parallel, are connected by a parallel circuit and are supplied with voltage by the voltage stabilizing direct current power supply. A main optical shaft of the camera and a laser beam emergent from the spot laser are perpendicular to sector surface lasers emergent from the horizontal linear laser modules. The whole set of system can acquire space coordinate information of point groups on the ditch slope surface in real time, has relatively high observing efficiency and observing precision, and is suitable for the quantitative observation in a ditch slope gravity corrosion process.
Description
Technical field
The invention belongs to the topographical surveying technical field, relate to the device of three-dimensional ditch slope microtopography real-time quantitative observation.
Background technology
Along with people topographical surveying area research deepen continuously and the development of advanced technologies such as laser technology, optical technology, ultrasonic technology, computer technology and image processing techniques, topographical surveying method develop into contactless measurements rapidly and efficiently such as 3 D laser scanning, ultrasonic measurement, close-range photogrammetry by the contact measurement method that traditional spirit-leveling instrument adds the transit single-point.At present, the observation device of testing landforms among a small circle mainly is divided into following a few class both at home and abroad:
The first kind, three-dimensional laser scanner, by the laser beam of returning through target surface to target surface emission pulse laser bundle and acceptance, with the three-dimensional coordinate of the accurate Measuring Object surface point of laser positioning principle, with the colored and 3 D stereo view of mode true reappearance testee of a large amount of spatial point or some cloud.The existing a lot of engineering example of releasing as Lycra company of Cyra three-dimensional laser scanning system (Fan Haiying, Yang Lun, the engineering Application Research [J] of .Cyra three-dimensional laser scanning systems such as Xing Zhihui. mine surveying, 2004 (3): 16-18.).Three-dimensional laser scanner generally is to adopt the laser dot-matrix scan mode by tested zone, and finish a large amount of point group measurements needs certain hour, and most of at present research just utilizes three-dimensional laser scanner that static object is carried out high-acruracy survey.Simultaneously, three-dimensional laser scanner is a black box system, is difficult to calibration, and is difficult in maintenance, the equipment cost height.
Second class, the close-range photogrammetry system is based on the binocular parallax principle, by the relative position of known 2 video cameras, obtains the three-dimensional coordinate of unique point on the interior object of public view field.Many baselines digital close range photogrammetry (Zhang Zuxun of system of development such as Zhang Zuxun, Yang Shengchun, Zhang Jianqing etc. many baseline-digital close range photogrammetry [J]. geospatial information, 2007,5 (1): 1-4.), at the three-dimensional measurement and the existing successful Application example of deformation observation of degree of precision.In the close-range photogrammetry process, generally need pre-service is carried out on the measured target surface, as artificial target who does respective numbers at target surface and the reference mark of laying respective numbers etc., belong to contact type measurement; In the measuring process, the reference mark of the known spatial coordinate of respective numbers must be arranged in each image that requires to take, must be provided with more than 2 and take the photograph the station, observation time is longer, only is applicable to the measurement of static object.The matching algorithm and the process of picture point are all very complicated simultaneously, and this has also limited the efficient of measuring to a certain extent and has promoted the use of scope.
The 3rd class, ultrasonic Topographical indicator is a kind of based on the echolocation principle, utilizes hyperacoustic emission, propagates, penetrates and performance such as reflection is surveyed the technical products of topography and geomorphology.Ultrasonic Topographical indicator has been realized the non-cpntact measurement of landform, interference to landform is little, can in the laboratory, accurately survey the topography, (vast stretch of wooded country is upright to found the ultrasonic Topographical indicator that waits development as vast stretch of wooded country, Qu Zhaosong, Wang Xingkui. the digital signal processing of the ultrasonic Topographical indicator of river model [J]. hydropower, 2004,30 (11): 78-80).In air, because sonic propagation speed can not show a candle to fast and echo signal sound wave of the velocity of propagation of light and also is interfered easily, so ultrasonic Topographical indicator is difficult to realization and obtains a large amount of spatial point of measured target or the volume coordinate of some cloud at short notice, is not suitable for ground dynamic object observation.
Up to the present, both at home and abroad mostly be to utilize a kind of technology development high precision in laser positioning, audiolocation, the technology such as photogrammetric, the topographical surveying device of superhigh precision, these measuring equipments have high input, and technological means is single, are not suitable for dynamic object is carried out quantitative observation.Soil erosion, the soil erosion of China is to have risen to maximum environmental problem, and the loss that brings grows with each passing day, and has become a problem that must be solved as early as possible.For a long time, around corroding the quantitative observation aspect, lack suitable observation method at mass erosion real-time quantitative observation aspect, ditch slope especially always.Therefore, a kind of gordian technique that can become ditch slope mass erosion Quantitative study of invention to the topographic meter that Three-Dimensional Dynamic ditch hillside fields shape is carried out accurately efficient, contactless quantitative observation and simple and easy economy.
Summary of the invention
The invention provides a kind of under ditch slope microtopography generation continually varying condition, obtain the volume coordinate information of the domatic point group of tested ditch in real time, realize any observation three-dimensional ditch slope microtopography volume, area, gradient distribution value constantly carried out the device of noncontact quantitative observation.
The present invention utilizes landform locating device and image data acquiring device to obtain the volume coordinate information of the domatic point group of ditch in real time; By intercepting geomorphologic map picture in the observation video recording, import computing machine after treatment, form the digital model on tested ditch slope, realize three-dimensional ditch slope microtopography is observed contactless quantitative observation constantly arbitrarily.
Concrete technical scheme is as follows:
Its mesorelief locating device is formed by surveying bridge, laser positioning stigma emitter and constant voltage dc source; The image data acquiring device is made up of the video camera of computing machine and band laser aiming instrument.
Survey bridge and form, survey the length of bridge and determine by being observed ditch slope scope by one group of word line laser module, laser module trimming rack, survey bridge girder, survey bridge cover plate and supply line; Word line laser module can adopt ruddiness, two kinds of photochromic models of green glow, power can adopt 50～100mW, quantity is required to determine by tested ditch slope scope and accuracy of observation, the word line laser module of the photochromic model of a plurality of differences is surveyed on the bridge girder by parallel respectively being laid in of laser module trimming rack, between adopt parallel circuit to connect, provide 3～5V voltage by constant voltage dc source; After the energising, word line laser module to one group of known separation of the domatic emission of tested ditch, be parallel to each other and continuous sector laser.One group of apparent laser positioning line of the domatic crossing formation of sector laser and ditch, the domatic landform of real-time follow-up ditch change and locus, locating groove slope.
With the plane of sector laser vertical on, the distance of each root laser positioning line between the projection line on this plane is design pitch, then can realize the domatic one dimension location on this direction of ditch; With the plane of sector laser parallel on, the laser positioning line directly reflects the landform actual change at the projection line on this plane, then can realize the domatic two-dimensional localization on this plane of ditch.Therefore, each root laser positioning line just can reflect that the three dimensions of the domatic landform counterpart of ditch changes.Suppose tested ditch slope along making the n equal portions perpendicular to the direction of face laser plane, when n was enough big, then soil layer was enough thin, and the available n part soil layer in ditch slope replaces, n bar laser positioning line just can be described domatic terrain feature variation so, realizes the three-dimensional Kinematic Positioning of whole tested ditch hillside fields shape.
Laser positioning stigma emitter is made up of stigma formula laser and fixed supported slab.Stigma formula laser can be selected ruddiness or green glow for use, power can be selected 5～50mW for use, quantity determined by the domatic scope of tested ditch, evenly is laid on the fixed supported slab with the sector laser parallel, and the energising back is sent one group and is parallel to each other and the laser rays vertical with the sector laser plane to ditch is domatic.This group laser rays and the bright laser positioning stigma of the domatic crossing formation of ditch, the domatic landform of real-time follow-up ditch changes.
The relative tertiary location of laser positioning stigma subpoint on the sector laser plane is constant, and the distance between the each point is a design load, so can obtain one group of planar point coordinate on the sector laser plane.According to this group planar point coordinate can to camera acquisition to ditch hillside fields shape image carry out the size calibration and distortion is proofreaied and correct, for the landform three-dimensional reconstruction provides base map of topography really and accurately.
Video camera adopts colored industrial camera, the coupling camera lens can select for use deformation rate less than 1% low distortion industrial lens, laser positioning line that the ditch that camera acquisition arrives is domatic and laser positioning stigma should be clear distinguishable, the laser aiming instrument power that is fixed on the video camera can be selected 50～100mW, launches the track laser rays that is parallel to the video camera primary optical axis; By adjusting track laser rays direction, can regulate video camera primary optical axis aspect quickly and accurately; In the shooting process, the video camera primary optical axis is all the time perpendicular to the sector laser plane.Take domatic dynamic change and the locus of going up laser positioning line and laser positioning stigma of ditch by video camera, gather the volume coordinate information of the domatic point group of tested ditch and the overall process of the domatic dynamic change of monitoring ditch in real time.
The geomorphologic map picture of intercepting ditch hillside fields deformationization before and after the moment in the observation video recording, import in the computer software, coordinate figure according to laser positioning stigma known set carries out size calibration and distortion correction to the landforms image, successively the laser positioning line in the image is carried out assignment according to the known separation between each sector laser, and be converted into isoline, isoline is carried out interpolation processing obtain the surperficial intensive point group in ditch slope, tested ditch slope digital model before and after setting up constantly then, at last by inquiry, relatively calculate the ditch slope model bulking value of moment front and back, realize contactless quantitative observation when inferior ditch hillside fields shape variable quantity.
The invention has the beneficial effects as follows the volume coordinate information that to gather the topographical surface point group of three-dimensional ditch slope microtopography in dynamic changing process in real time; Can realize in the deformation process over the ground any time ditch slope volume change contactless quantitative observation and to the observation of the parameter value variation processes such as volume, area and gradient distribution on tested ditch slope; Whole system has higher observed efficiency and accuracy of observation, is applicable to the quantitative observation of ditch slope mass erosion process.
Description of drawings
Accompanying drawing 1 is a fundamental diagram of the present invention.
Accompanying drawing 2 is first kind of survey bridge structural map of the present invention.
Accompanying drawing 3 is second kind of survey bridge structural map of the present invention.
Accompanying drawing 4 is survey bridge longitudinal diagrams of the present invention.
Accompanying drawing 5 is survey bridge drawings in side sectional elevation of the present invention.
Among the figure: 1 word line laser module; 2 laser module trimming racks; 3 supply lines; 4 video cameras;
5 video camera primary optical axis; 6 computing machines; 7 survey bridge girder; 8 survey the bridge cover plate; 9 laser emitting holes;
10 cover plate side coupling bolts; 11T type bolt; 12 sector laser; 13 ditches are domatic;
14 laser positioning lines; 15 survey the bridge fixed sturcture; 16 laser aiming instruments;
17 stigma formula laser; 18 track laser rays; 19 laser positioning stigmas;
20 constant voltage dc sources; 21 fixed supported slabs.
Embodiment
Below in conjunction with drawings and Examples the present invention is further specified.
The three-dimensional landform observing device concrete steps are as follows:
Before the microtopography of tested ditch slope, fix, regulate survey bridge direction position by surveying bridge fixed sturcture 15, survey in the bridge word line laser module 1 energising back by survey on the bridge cover plate 8 laser emitting hole 9 to one group of known separation of domatic 13 emissions of ditch, be parallel to each other and continuous sector laser 12, intersect one group of apparent laser rays position line 14 of formation with ditch domatic 13, domatic 13 landform of this group laser rays real-time follow-up ditch change and locate the locus on dynamic ditch slope.See accompanying drawing 1.
Wherein, surveying bridge is made up of one group of word line laser module 1, laser module trimming rack 2, survey bridge girder 7, survey bridge cover plate 8 and supply line 3.Survey bridge and adopt industrial aluminum profile, length is determined by being observed the sloping scope of ditch, is connected with survey bridge fixed sturcture 15 web joints by T type bolt 11, regulates survey bridge integral position by 3 leveling serews surveying on bridge fixed sturcture 15 base plates.
The quantity of word line laser module 1 is required to determine by the scope and the accuracy of observation on tested ditch slope, between adopt parallel circuit to connect, provide 3～5V voltage by constant voltage dc source 19 and supply line 3, survey on the bridge girder 7 by laser module trimming rack 2 parallel being laid in; Survey the scale mark that bridge girder 7 has degree of precision, can regulate sector laser design pitch quickly and accurately; Surveying bridge cover plate 8 is a trench structure, is connected with survey bridge girder 7 by cover plate side binder bolt 10.See accompanying drawing 2 or accompanying drawing 3.
Above the tested ditch domatic 13 and on the fixed supported slab parallel, evenly lay and be no less than the stigma formula laser 17 that 4 power can be 5～50mW with sector laser 12; Adopt parallel circuit to connect between the stigma formula laser 17, provide electric power by specified constant voltage dc source 19, the energising back is sent one group to ditch domatic 13 and is parallel to each other and the laser rays vertical with the sector laser plane, intersects with ditch domatic 13 to form bright laser positioning stigma 19; The relative position of laser positioning stigma 19 between the subpoint on sector laser 12 planes should be set according to domatic 13 sizes of ditch, should reach even distribution requirement; The domatic landform of laser positioning stigma 19 real-time follow-up ditches changes, as the reference mark of landforms video recording sectional drawing size calibration and distortion correction.
Step 3.1 is regulated track laser rays 18 directions that laser aiming instrument 16 is launched on the video camera 4, it is paralleled with video camera primary optical axis 5 and laser aiming instrument 16 is fixed on this direction position; Afterwards, by adjusting track laser rays 18 directions, make the video camera primary optical axis vertical with sector laser 12 planes.
Step 3.2, by the dynamic change and the shape locus, ditch hillside fields of laser positioning line 14 and laser positioning stigma 19 on the video camera 4 real-time shooting ditches domatic 13, gather the volume coordinate information of the domatic point group of tested ditch and the overall process of domatic 13 dynamic changes of monitoring ditch in real time; The data of utilizing computing machine 6 real-time storage video cameras 4 to gather.In shooting process, video camera primary optical axis 5 is all the time perpendicular to sector laser 12 planes and make tested ditch domatic 13 in video camera 4 is taken central areas.Wherein, video camera adopts colored industrial camera and camera lens, and camera lens can select for use deformation rate less than 1% low distortion industrial lens, and laser positioning line that the ditch that camera acquisition arrives is domatic and laser positioning stigma should be clear distinguishable.
Geomorphologic map picture before and after the slope mass erosion of intercepting ditch takes place constantly in the observation video recording, import in the computer software, coordinate figure according to laser positioning stigma 19 known set carries out size calibration and distortion correction, laser positioning line (14) in the image is carried out assignment and is converted into isoline, isoline is carried out interpolation, form mass erosion the ditch slope digital model of front and back constantly takes place; Can inquire about the volume that obtains the sloping body of actual ditch according to model, then the sloping body volume before and after the mass erosion generation is poor, is when the subgravity erosion amount.
Claims (2)
1. three-dimensional landform observing device, form by landform locating device and image data acquiring device, the landform locating device is to tested ditch domatic (13) emission laser positioning line (14) and laser positioning stigma (19), and the image data acquiring device is gathered the volume coordinate information of ditch domatic (13) point group in real time; It is characterized in that: the landform locating device is formed by surveying bridge, laser positioning stigma (19) emitter and constant voltage dc source (20), and the image data acquiring device is made up of the video camera (4) of computing machine (6) and band laser aiming instrument (16); Survey bridge and be made up of word line laser module (1), laser module trimming rack (2), survey bridge girder (7), survey bridge cover plate (8) and supply line (3), laser positioning stigma (19) emitter is made up of stigma formula laser (17) and fixed supported slab (21).
2. a kind of three-dimensional landform observing device according to claim 1, it is characterized in that: the length of surveying bridge is determined by being observed ditch slope scope, word line laser module (1) is divided into ruddiness, two kinds of photochromic models of green glow, the word line laser module (1) of the photochromic model of a plurality of differences respectively is laid in side by side by laser module trimming rack (2) and surveys on the bridge girder (7), adopt parallel circuit to connect between each word line laser module (1), provide voltage by constant voltage dc source (20);
Stigma formula laser (17) quantity is determined by tested ditch domatic (13) scope, evenly be laid on the fixed supported slab (21) parallel the sector laser (12) that the laser rays that stigma formula laser (17) is launched is parallel to each other and sends perpendicular to word line laser module (1) with sector laser (12);
The sector laser (12) that video camera primary optical axis (5) sends perpendicular to word line laser module (1); The laser aiming instrument (16) that is fixed on the video camera (4) is launched track laser rays (18), and track laser rays (18) is parallel to video camera primary optical axis (5); The realtime image data of computing machine (6) storage and processing camera acquisition.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101975570A (en) * | 2010-09-30 | 2011-02-16 | 大连理工大学 | Three-dimensional observation device for scouring terrain |
| CN103487567A (en) * | 2013-09-16 | 2014-01-01 | 大连理工大学 | Device and method for building trench slope gravity erosion process field test |
| CN106052647A (en) * | 2016-05-09 | 2016-10-26 | 华广发 | A compass positioning technique for overlooking 360 degrees' full view and twenty four mountains |
| CN107101580A (en) * | 2017-05-18 | 2017-08-29 | 陈坤龙 | A kind of image measuring method based on laser, system and device |
| CN108195358A (en) * | 2017-11-10 | 2018-06-22 | 广东电网有限责任公司教育培训评价中心 | The transmission line of electricity collecting method of simulation training system is maked an inspection tour based on unmanned plane |
| CN109458993A (en) * | 2018-10-12 | 2019-03-12 | 大连理工大学 | Landforms instrument host based on integrated mainboard |
| CN110036863A (en) * | 2019-05-20 | 2019-07-23 | 贵州师范大学 | A kind of Karst Rocky Desertification Region landform and phytobiocoenose space structure measuring method |
| WO2019195954A1 (en) * | 2018-04-08 | 2019-10-17 | 大连理工大学 | Landform observation apparatus based on mechanical fine adjustment of dual-host |
| CN114964705A (en) * | 2022-04-08 | 2022-08-30 | 大连理工大学 | Wave test water tank two-dimensional laser scanning measuring device |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101975570A (en) * | 2010-09-30 | 2011-02-16 | 大连理工大学 | Three-dimensional observation device for scouring terrain |
| CN101975570B (en) * | 2010-09-30 | 2012-07-04 | 大连理工大学 | Three-dimensional observation device for scouring terrain |
| CN103487567A (en) * | 2013-09-16 | 2014-01-01 | 大连理工大学 | Device and method for building trench slope gravity erosion process field test |
| CN103487567B (en) * | 2013-09-16 | 2015-07-15 | 大连理工大学 | Device and method for building trench slope gravity erosion process field test |
| CN106052647A (en) * | 2016-05-09 | 2016-10-26 | 华广发 | A compass positioning technique for overlooking 360 degrees' full view and twenty four mountains |
| CN107101580A (en) * | 2017-05-18 | 2017-08-29 | 陈坤龙 | A kind of image measuring method based on laser, system and device |
| CN108195358A (en) * | 2017-11-10 | 2018-06-22 | 广东电网有限责任公司教育培训评价中心 | The transmission line of electricity collecting method of simulation training system is maked an inspection tour based on unmanned plane |
| WO2019195954A1 (en) * | 2018-04-08 | 2019-10-17 | 大连理工大学 | Landform observation apparatus based on mechanical fine adjustment of dual-host |
| US10801838B2 (en) | 2018-04-08 | 2020-10-13 | Dalian University Of Technology | Topography-observation device based on the mechanically micro-adjustable dual hosts |
| CN109458993A (en) * | 2018-10-12 | 2019-03-12 | 大连理工大学 | Landforms instrument host based on integrated mainboard |
| CN109458993B (en) * | 2018-10-12 | 2021-04-20 | 大连理工大学 | Landform instrument host based on integrated mainboard |
| CN110036863A (en) * | 2019-05-20 | 2019-07-23 | 贵州师范大学 | A kind of Karst Rocky Desertification Region landform and phytobiocoenose space structure measuring method |
| CN110036863B (en) * | 2019-05-20 | 2021-05-04 | 贵州师范大学 | Method for measuring terrain and plant community spatial structure in karst stony desertification region |
| CN114964705A (en) * | 2022-04-08 | 2022-08-30 | 大连理工大学 | Wave test water tank two-dimensional laser scanning measuring device |
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