CN101852857B - Surveying device and automatic tracking method - Google Patents
Surveying device and automatic tracking method Download PDFInfo
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- CN101852857B CN101852857B CN 201010143864 CN201010143864A CN101852857B CN 101852857 B CN101852857 B CN 101852857B CN 201010143864 CN201010143864 CN 201010143864 CN 201010143864 A CN201010143864 A CN 201010143864A CN 101852857 B CN101852857 B CN 101852857B
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Abstract
This surveying device comprises a first image pickup unit 11 for projecting a laser beam and for receiving a reflection light from a target supported by a support member, a second image pickup unit 12 for acquiring an image including the target, drive units 15 and 17 for shifting collimating directions of the first image pickup unit and the second image pickup unit in a horizontal direction and in a vertical direction respectively, and a control arithmetic unit 22 for controlling the drive units so that the first image pickup unit and the second image pickup unit are directed toward the target based on the image processing. The image processing of the image by the first image pickup unit is a light spot detection processing to obtain a light spot from the target. The image processing of the image by the second image pickup unit is an image matching with a template image as set up according to the image of the support member. The control arithmetic unit controls the drive units so that a tracking of the target is performed based on the either result of the light spot detection processing or the result of the image matching.
Description
Technical field
The present invention relates to measurement mechanism.Especially, the present invention relates to have the measurement mechanism of following function and relating to by using the automatic tracking method of described measurement mechanism.
Background technology
In the past, the measurement mechanism with following function is known, and described measurement mechanism can measuring distance, level angle and vertical angle.Such measurement mechanism is so designed: by being provided at the finder telescope on the described measurement mechanism, object reflecting body (target) such as corner cube is aimed at, follow the tracks of light from described finder telescope projection, and receive and detect the reflected light from described target.When described target moves, identified from catoptrical detection position and the deviation between the aiming center of described target, and adjust sighted direction based on this deviation, thus automatically follow the tracks of described target.
Usually, in having such measurement mechanism of following function, do not assign the operator in the measurement mechanism side.The measured operator of described target supports, and perhaps described target is installed on the Work machine such as dozer.Corresponding to the process of described measurement operation, described target is moved, and described measurement mechanism is followed the tracks of the target of described movement.
Yet, translational speed in described target surpasses under the situation of the speed of following of described measurement mechanism and the visual field that described target may deviate from described finder telescope, perhaps may enter under the situation of described measurement mechanism from the reflected light such as the reflective object of glass pane, perhaps in target through entering under the situation of described measurement mechanism each other and from the reflected light of two or more targets, perhaps may and may tackle under the described catoptrical situation through described target front at the object such as automobile, described measurement mechanism may miss described target or possible errors ground is recognized described target and may not be followed the tracks of described target, thereby may be interrupted from motion tracking.
This is because usually employed described finder telescope has about 1 ° of so little field angle (angle of visual field) and is used for from the sensing range of the described reflection of detection of motion tracking very little.
When the tracking operation was interrupted, described measurement mechanism start-up operation was to search for described target.In described search operation, described finder telescope in vertical direction and from left to right is rotated in the predetermined scope on the direction, be used for scanning when light is followed the tracks of in projection, thereby described target is detected.
The field angle of described finder telescope (angle of visual field) is about 1 ° so little.In order to detect described target again, it is necessary having the more fine pitch of scanning and the quantity of increase scan operation.Therefore, when described tracking operation is interrupted, can be detected again and described tracking needs time of growing relatively before can being activated in described target.In addition, under the condition of work of interrupting frequently taking place in the light path that is caused by barrier, following problem may occur: i.e. the work efficiency of described measurement is greatly reduced.
Similarly, depart from a large scale in described target under the situation of described telescopical described visual field, described target may not detected again, and described measurement operation may be stopped itself.
Described measurement mechanism with following function is disclosed in each of JP-A-7-198383, JP-A-2000-346645 and JP-A-2004-170354.
Summary of the invention
The purpose of this invention is to provide the measurement mechanism with following function, might when the object reflecting body is missed, detect described object reflecting body rapidly again in the visual field by this measurement mechanism, reduce the time before the described recovery from motion tracking and improve the efficient of described measurement operation.
In order to reach above-mentioned target, the invention provides a kind of measurement mechanism, described measurement mechanism comprises for the projecting laser light beam and be used for to receive comes catoptrical first image unit of the target that free support component supports, for second image unit that obtains the image that comprises described target and have the field angle wideer than the field angle of described first image unit, be used for distinguishing in the horizontal direction and moving in vertical direction the driver element of the sighted direction of described first image unit and described second image unit, graphics processing unit for the treatment of the image that obtains by described first image unit with by described second image unit, and be used for the described driver element of control so that described first image unit and described second image unit are handled based on the described image of the image that is obtained by described first image unit and handled and the control arithmetic element of directed described target based on the described image of the image that is obtained by described second image unit, wherein the image of the image of described first image unit being handled is that luminous point detects and handles to obtain luminous point from described target, wherein the image of the image of described second image unit being handled is images match with the template image of setting up according to the image of described support component, and wherein said control arithmetic element is controlled described driver element so that the result who detects the result that handles or described images match based on described luminous point carries out the tracking of described target.
Similarly, the invention provides aforesaid measurement mechanism, described measurement mechanism comprises for first image unit that receives light from light source, this light source is mounted in the target on the support component, be used for obtaining the image that comprises described target and have second image unit than the field angle of the visual field angular width of described first image unit, be used for distinguishing in the horizontal direction and moving in vertical direction the driver element of the sighted direction of described first image unit and described second image unit, be used for to carry out the graphics processing unit that the image of the image of taking by described first image unit with by described second image unit is handled, and be used for the described driver element of control so that described first image unit and described second image unit are handled based on the image of the image that is obtained by described first image unit and handled and the control arithmetic element of directed described target based on the image of the image that is obtained by described second image unit, wherein the image of the image of described first image unit being handled is that luminous point detects and handles to obtain luminous point from described target, wherein the image of the image of described second image unit being handled is images match with the template image of setting up according to the image of described support component, and wherein said control arithmetic element is controlled described driver element so that any one that detects based on described luminous point among the result of the result that handles or described images match carried out the tracking of described target.
In addition, the invention provides aforesaid measurement mechanism, wherein under the obtained situation of the result that luminous point detection described in the result of described luminous point detection processing and images match is handled, described control arithmetic element is controlled tracking based on the result that described luminous point detects processing.Similarly, the invention provides aforesaid measurement mechanism, wherein described luminous point detect handle and the result of described images match described in the luminous point result that detects processing do not have under the obtained situation of the result of obtained and described images match, described control arithmetic element is controlled tracking based on the result of described images match.In addition, the invention provides aforesaid measurement mechanism, wherein said template image is the part of the described object images that is established, so that two or more at least unique points are included, wherein from the image that is obtained by described second image unit, extract the object images of described support component and further from described object images, extract described unique point.Similarly, the invention provides aforesaid measurement mechanism, wherein in response to the variation of the distance of described measurement and upgrade described template image.In addition, the invention provides aforesaid measurement mechanism, wherein detect to handle the situation that neutralization two results from described images match are not obtained from luminous point under, described control arithmetic element control makes driver element be stopped, obtain rest image by described second image unit, and the gamut carries out image to rest image between described rest image and described template image is mated, and described control arithmetic element obtains the position of described target from described rest image based on the result of described images match.Similarly, the invention provides aforesaid measurement mechanism, wherein detecting by described images match under the situation of a plurality of candidate points, described control arithmetic element judges whether to obtain the luminous point from described target from described candidate point, and judges whether the position that obtains luminous point is the position of described target.In addition, the invention provides aforesaid measurement mechanism, wherein said second image unit can be taken the image of low magnification and the image of high power, and can select low magnification image to take and the high power image taking according to the distance of described measurement.Similarly, the invention provides aforesaid measurement mechanism, wherein said control arithmetic element is carried out tracking, is detected the luminous point of described target and return to described tracking operation based on described luminous point detection based on described images match based on described images match.
In addition, the invention provides automatic tracking method, described method comprises for the projecting laser light beam with for detection of the luminous point from the luminous point of target and detects step, for the step of the image that obtains target with the image of the support component that supports described target, and the images match step that is used for detecting by images match based on the described image that is taken described support component, wherein said luminous point detects step, carried out concurrently for the image that obtains target and step and the images match step of the image of the support component that supports described target, and when the testing result that detects step based on described luminous point is carried out tracking, do not obtain under enough results' the situation in the detection that detects in the step by luminous point, carry out based on described images match step and follow the tracks of operation.Similarly, the invention provides aforesaid automatic tracking method, wherein when carrying out tracking based on described images match step, detect described target according to described images match, and the tracking that recovers to detect based on luminous point is operated.In addition, the invention provides aforesaid automatic tracking method, wherein said luminous point detection step projecting laser light beam and detection are from the reflected light of described target.Similarly, the invention provides aforesaid automatic tracking method, wherein detect in the step at described luminous point, described target is light source, and detected from the light of described light source emission.
The invention provides measurement mechanism, described measurement mechanism comprises for the projecting laser light beam and is used for receiving catoptrical first image unit from the target that is supported by support component, be used for obtaining the image that comprises described target and have second image unit than the field angle of the visual field angular width of described first image unit, be used for distinguishing in the horizontal direction and moving in vertical direction the driver element of the sighted direction of described first image unit and described second image unit, graphics processing unit for the treatment of the image that obtains by described first image unit with by described second image unit, and be used for the described driver element of control so that described first image unit and described second image unit are handled based on the image of the image that is obtained by described first image unit and handled and the control arithmetic element of directed described target based on the image of the image that is obtained by described second image unit, wherein the image of the image of described first image unit being handled is that luminous point detects and handles to obtain luminous point from described target, wherein the image of the image of described second image unit being handled is images match with the template image of setting up according to the image of described support component, and wherein said control arithmetic element is controlled described driver element so that the result who detects the result that handles or described images match based on described luminous point carries out the tracking of described target.As a result of, even can not be when carrying out described tracking operation from the luminous point of described target, described tracking be interrupted, and the process that might avoid trouble (such as resetting of following the tracks of).
Similarly, the invention provides aforesaid measurement mechanism, described measurement mechanism comprises for first image unit that receives from the light of light source, this light source is mounted in the target on the support component, be used for obtaining the image that comprises described target and have second image unit than the field angle of the visual field angular width of described first image unit, be used for distinguishing in the horizontal direction and moving in vertical direction the driver element of the sighted direction of described first image unit and described second image unit, be used for to carry out the graphics processing unit that the image of the image of taking by described first image unit with by described second image unit is handled, and be used for the described driver element of control so that described first image unit and described second image unit are handled based on the image of the image that is obtained by described first image unit and handled and the control arithmetic element of directed described target based on the image of the image that is obtained by described second image unit, wherein the image of the image of described first image unit being handled is that luminous point detects and handles to obtain luminous point from described target, wherein the image of the image of described second image unit being handled is images match with the template image of setting up according to the image of described support component, and wherein said control arithmetic element is controlled described driver element so that any one that detects based on described luminous point among the result of the result that handles or described images match carried out the tracking of described target.As a result of, even can not be when carrying out described tracking operation from the luminous point of described target, described tracking be interrupted, and the process that might avoid trouble (such as resetting of following the tracks of).
In addition, the invention provides aforesaid measurement mechanism, wherein under the obtained situation of the result that luminous point detection described in the result of described luminous point detection processing and described images match is handled, described control arithmetic element is controlled tracking based on the result that described luminous point detects processing.Similarly, the invention provides aforesaid measurement mechanism, wherein described luminous point detect handle and the result of described images match described in the luminous point result that detects processing do not have under the obtained situation of the result of obtained and described images match, described control arithmetic element is controlled tracking based on the result of described images match.As a result of, even can not be when carrying out described tracking operation from the luminous point of described target, described tracking be interrupted, and the process that might avoid trouble (such as resetting of following the tracks of).
In addition, the invention provides aforesaid measurement mechanism, wherein said template image is the part of the described object images that is established, so that two or more at least unique points are included, wherein from the image that is obtained by described second image unit, extract the object images of described support component and further extract minutiae from described object images.As a result of, the scope for coupling be might dwindle, and the burden handled for data and executable operations in real time reduced.Similarly, because two or more at least unique point is included, so the degree of accuracy of matching treatment can be enhanced.
Similarly, the invention provides aforesaid measurement mechanism, wherein in response to the variation of the distance of described measurement and upgrade described template image.As a result of, might carry out described images match with high degree of accuracy according to the variation of described measuring condition.
In addition, the invention provides aforesaid measurement mechanism, wherein handle under the situation that neutralization two results from described images match are not obtained detecting from described luminous point, described control arithmetic element control makes described driver element be stopped, obtain rest image by described second image unit, and the gamut carries out image to rest image between rest image and template image is mated, and described control arithmetic element obtains the position of described target from described rest image based on the result of images match.As a result of, even when the described tracking of impossible execution is operated, described target can be on a large scale, searched for, and described quick tracking operation might be returned to.
Similarly, the invention provides aforesaid measurement mechanism, wherein detecting by described images match under the situation of a plurality of candidate points, described control arithmetic element judges whether to obtain the luminous point from described target from described candidate point, and judges whether the position that obtains described luminous point is the position of described target.As a result of, might improve the efficient of described target detection.
In addition, the invention provides aforesaid measurement mechanism, wherein said second image unit can be taken the image of low magnification and the image of high power, and can select low magnification image to take and the high power image taking according to the distance of described measurement.As a result of, enough object images can be acquired and no matter its in short distance still in long distance, and image is followed the tracks of and can be performed under suitable condition.
Similarly, the invention provides aforesaid measurement, wherein said control arithmetic element is carried out based on described images match and is followed the tracks of, detects the luminous point of described target and return to described tracking operation based on the detection of described luminous point based on described images match.As a result of, the scope of searching for described target may be very little, and might return to described tracking operation rapidly.
In addition, the invention provides aforesaid automatic tracking method, described method comprises for the projecting laser light beam with for detection of the luminous point from the luminous point of target and detects step, for the step of the image that obtains target with the image of the support component that supports described target, and the images match step that is used for detecting by images match based on the described image that is taken described support component, wherein said luminous point detects step, carried out concurrently for the image that obtains target and step and the images match step of the image of the support component that supports described target, and when the testing result that detects step based on described luminous point is carried out tracking, do not obtain under enough results' the situation in the detection that detects in handling by described luminous point, carry out based on described images match step and follow the tracks of operation.As a result of, even can not be when carrying out described tracking operation from the luminous point of described target, described tracking be interrupted, and the process that might avoid trouble (such as resetting of following the tracks of).
Similarly, the invention provides aforesaid automatic tracking method, wherein when carrying out tracking based on described images match step, detect described target according to described images match, and detect the described tracking operation of recovery based on luminous point.As a result of, might need not interrupt described measurement operation based on described target with the highly-efficient implementation operation.
Description of drawings
Fig. 1 is the skeleton view of the example of measurement mechanism, and the present invention is implemented therein.
Fig. 2 is the schematic block diagram of measurement mechanism according to an embodiment of the invention.
Fig. 3 shows the graphic extension for the tracking operation of explaining embodiments of the invention.
Fig. 4 is the process flow diagram that the operation in the embodiments of the invention is shown.
Fig. 5 is the process flow diagram that the laser in the embodiments of the invention is followed the tracks of.
Fig. 6 is the process flow diagram that the image in the embodiments of the invention is followed the tracks of.
Embodiment
With reference to the accompanying drawings, will be described embodiments of the invention hereinafter.
Fig. 1 and Fig. 2 respectively represent measurement mechanism 1, and the present invention therein is implemented.For instance, employed measurement mechanism 1 is total powerstation (total station).Pulsed laser beam is throwed to measurement point.By receiving and detect the pulse-echo light from measurement point, be determined to the distance of measurement point for each pulse.Result's quilt of range observation is average, and with the pinpoint accuracy measuring distance.
As shown in Figure 1, the telescope unit 5 that bracket unit 4 that the measurement of the level unit 2 that is installed on the tripod (not shown), the base unit 3 that provides in measurement of the level unit 2, the Z-axis on base unit 3 rotatably be provided and the transverse axis on bracket unit 4 rotatably are provided mainly is provided measurement mechanism 1.
The 3rd image unit 13 is used to obtain the image of the object (target) of wanting measured and can take the image of the scope that is needed as the optical axis (aiming optical axis) that centers on first telescope 8 by first telescope 8.First image unit 11 is provided at light path, obtain this light path by the light path of dividing first telescope 8, and be taken in the scope that image can equate in the field angle with first telescope 8, for example have the scope of 1 ° of field angle for instance.Based on the image that obtains by first image unit 11, follow the tracks of operation and be performed.
Each shooting in second image unit 12 and the 3rd image unit 12 comprises target and object or supports the people's of target image on a large scale.
Camera (for example digital camera) is used as each in first image unit 11, second image unit 12 and the 3rd image unit 13, and it is exported the image that is taken as data image signal.Be used as the photodetector in each of first image unit 11, second image unit 12 and the 3rd image unit 13 as CCD, CMOS of pixel set etc., make that the locations of pixels that is received and detects can be identified and can obtain field angle from detected locations of pixels.Be coloured image by each image that obtains in second image unit 12 and the 3rd image unit 13 preferably.
With reference now to Fig. 2,, will the basic layout of measurement mechanism 1 be described.
Being used in the horizontal direction, the horizontal drive unit 15 of rotary bracket unit 4 is provided in bracket unit 14.Similarly, level angle measuring unit 16 is provided, and it detects bracket unit 4 with respect to the angle that horizontally rotates of base unit 3, and detects the level angle on the sighted direction.On bracket unit 4, vertical drive units 17 is provided, and it rotates telescope unit 5 around transverse axis, and vertical angle measuring unit 18 is provided the vertical angle on the vertical angle of its detection telescope unit 5 and the measurement sighted direction.
Various types of procedure stores are in storage unit 23.These programs comprise: be used for to measure needed calculation procedure, are used for carrying out image processing program (will be illustrated in the back) that first image handles, are used for the agenda selecting measurement point (from the reflected light of minute surface at its detected point), be used for being implemented to the range observation of selecteed measurement point (target) and be used for tracking measurement point from processed image, and for ferret out when measurement is activated and for the search utility of ferret out when target is missed.
In addition, image processing program is carried out second image and is handled (will be illustrated in the back), extracts the object (object) of wanting measured from processed image, select the characteristic of the image that is extracted and characteristic is established as template.Similarly, program is subsequently stored: the program that is used for the search utility of object that will be measured based on the template search and is used for carrying out in non-prism measurement pattern range observation when wanting measured object to be recognized as object.
By distance measuring unit 14, be imported into control arithmetic element 22 by level angle measuring unit 16 and the measurement result by vertical angle measuring unit 18, and by control arithmetic element 22 measuring distances, vertical angle and level angle.Measurement result is stored in the storage unit 23 and is displayed on the display unit 6 through control arithmetic element 22.
Select first image unit 11, second image unit 12 and the 3rd image unit 13 and take and be respectively stored in the image storage unit 26 and suitably be presented on the display unit by the image that the selected cell 25 that is taken is selected by first image unit 11, second image unit 12 and the 3rd image unit 13 by the image selected cell 25 that is taken.
Template arranges unit 27 makes template comprise two or more at least unique points at the built-in shuttering of the scope of object.
The images match that the template of setting up unit 27 and the mobile image of being taken by second image unit 12 or the 3rd image unit 13 are set by template is carried out in matching treatment unit 28, and carries out the tracking to image.
Then with reference to figure 3, will hereinafter the target search among the present invention and tracking be described.Target 31 is the prisms such as corner cube, and target supports target by the mobile object such as dozer or operator.Hereinafter, will be described the situation that likes dozer 30 mobile therein.
In the present embodiment, laser tracking and image are followed the tracks of and are realized concurrently.In laser is followed the tracks of, follow the tracks of light (laser beam) from first telescope 8 along the optical axis projection identical with the optical axis of range observation light, and by receiving and detecting and carried out tracking by target 31 laser light reflected light beams.In image is followed the tracks of, by carrying out tracking based on the images match of the image that is obtained through second telescope 9 by second image unit 12 and the 3rd image unit 13.
The field angle that is used in first telescope 8 in the laser tracking is 1 ° so little, and will be limited in by the scope that first image unit 11 obtains around the predetermined scope of the optical axis of first telescope 8.The visual angle of second telescope 9 is greater than the visual angle of first telescope 8, and it is set to 15 °.Thereby the field angle of the image that obtains by second image unit 12 is 15 °, and the field angle of the image that obtains by the 3rd image unit 13 is 1 °.In image was followed the tracks of, the image that uses the image that is obtained by second image unit 12 also to be to use to be obtained by the 3rd image unit 13 was determined according to the distance to object that will be measured.
In Fig. 3, reference number 32 representative is used for laser image that follow the tracks of, first image unit, and the image that obtained by second image unit and the 3rd image unit of label 33 expressions.Label 34 representative is by extracting the object images that will obtain as the measured object of object.Handle extract minutiae 35 by the image of object images 34.In addition, in object images 34, comprise that the part of many unique points 35 is set to template image 36.The size of template image 36 is the 20x20 pixel.
Laser is followed the tracks of and the image tracking is finished concurrently.Carry out normal tracking according to following the tracks of the result who obtains by laser.Under the situation about in laser is followed the tracks of, departing from from the hunting zone that laser is followed the tracks of, for example can depart from by the scope that first image unit 11 obtains from image therein when luminous point 37, namely depart from and target is missed from the first image unit image 32, perhaps under the situation that a plurality of luminous points are detected and the laser tracking can not be implemented, then change into by second telescope 9 that has big field angle and carry out the image tracking.
When the image tracking was implemented, the target in the image was detected, and returned to the laser tracking again.
Fig. 4 illustrates the flow process of the tracking operation in the present embodiment, and laser is followed the tracks of and the image tracking is realized concurrently.
At first, with reference to figure 5, will follow the tracks of being described laser.
Laser beam is throwed (step 31) through first telescope 8.Be received and detect through first telescope 8 by target laser light reflected light beam, and image is by first image unit 11 be taken (step 32).Handle the image that (binary processing) handles so be acquired by binary.The luminous point of laser beam is detected (step 33), and the center of gravity of the luminous point 37 in the photodetector in first image unit 11 detected (step 34).
According to corresponding to the center of gravity of luminous point 37, locations of pixels is determined the field angle at first image unit, 11 places in the photodetector.In addition, by level angle measuring unit 16 and vertical angle measuring unit 18 detected level angle and vertical angles, the level angle of target (H) and vertical angle (V) are calculated (step 35) according to respectively.Based on result calculated, (step 36) controlled in the driving of horizontal drive unit 15 and vertical drive units 17.Distance is measured when laser is followed the tracks of.
Then, with reference to figure 6, will follow the tracks of being described image.
When tracking is activated, by 8 run-homes of first telescope, and distance measured (step 41).
Based on the result of range observation, the image taking magnification that be used in the image tracking is established.In other words, use second image unit 12 for wide-angle still will use the 3rd image unit 13 for the purpose of looking in the distance to be selected.When wanting measured distance in short-term, second image unit 12 that is used for wide-angle is used.When wanting measured distance, for the 3rd image unit 13 of the purpose of looking in the distance is used.
When the setting of magnification is finished, obtain rest image at sighted direction.According to rest image, object is selected and object images 34 is extracted.Image by object images 34 is handled, and unique point 35 is extracted, and template image 36 is established and makes a plurality of unique points be included (see figure 3) (step 42).
Image is followed the tracks of and is activated, and obtains image (step 43) by the 3rd image unit 13 for instance, and carries out image is mated between the image that is acquired and template image 36.As the method that is used for images match, normalized crosscorrelation method, least square matching process etc. are used in SSDA method (order Similarity Detection Algorithm).As mentioned above, the size of template image 36 is the 20x20 pixel.As a result of, the data processing at the coupling place can be performed (in real time) rapidly.Similarly, because many unique points are included, so the degree of accuracy of coupling is enhanced (step 44).
When coupling was done, the field angle of the center of template image 36 (level angle (H) and vertical angle (V)) can obtain (step 45) at image.
Relation between object images 34 and the template image 36 and the position of target 31 in object images 34 can be calculated according to image.When the center of template image 36 was determined, the sighted direction of first telescope 8 can be determined or adjust.
Based on to the level angle of the center of template image 36 and the result of calculation of vertical angle, (step 46) controlled in the driving of horizontal drive unit 15 and vertical drive units 17.
Now, return step 41, the data of range observation are examined.Because the size of object changes according to measured distance, whether the size of template image 36 is suitable for images match is examined.If it is judged as the size that is not suitable for images match, template image 36 should be updated.
Be repeated based on template image 36 and template image 36 updated images coupling, and the image tracking is performed.
With reference to figure 4, will the whole flow process of following the tracks of operation be described now.
When following the tracks of operation by initiation, laser tracking and image are followed the tracks of and are realized (step 01 and step 21) concurrently.
Follow the tracks of and image when following the tracks of the both and successfully being realized when laser, right of priority is given the result of laser tracking.Based on the result that laser is followed the tracks of, measurement mechanism 1 is controlled, and horizontal drive unit 15 and vertical drive units 17 driven (the normal tracking).Range observation by distance measuring unit 14 is done continuously.
When successfully carries out image was not followed the tracks of, estimative was that template image 36 is insufficient.Thereby, adjust magnification according to the result of the range observation by distance measuring unit 14, and set up template image 36 (step 23) again.Do not have under the detected condition at the reflected light from target 31, for example under the situation that the reflected light from target 31 is blocked or under the situation that two or more luminous points are detected, measure the distance of dozer 30 by non-prism measurement.
Even when the image tracking successfully is not performed, if laser is followed the tracks of successfully, normal tracking is performed (step 03 and step 10) continuously.
If laser is followed the tracks of not success, but the image tracking successfully is performed, and the result who follows the tracks of according to image drives measurement mechanism 1, and sighted direction definite object 31 (step 10).When the image of first image unit 11 can be acquired and might carry out the laser tracking, laser was followed the tracks of and the image tracking is finished again concurrently.Based on the result that laser is followed the tracks of, control survey device 1 and finish range observation.
When laser is followed the tracks of and image is followed the tracks of the both not successfully, the tracking of measurement mechanism 1 is stopped, and rest image is obtained by second image unit 12 through second telescope 9.Perhaps rest image obtains (step 04) through first telescope 8 by the 3rd image unit 13.Rest image is obtained still to be obtained by the 3rd image unit 13 by second image unit 12 and depends on the result who is right after the range observation before knowledge of result when finding to follow the tracks of not success.
Carries out image coupling on the image that is acquired.By images match, candidate point is extracted (step 06).When two or more candidate point, obtain image by first image unit 11 at each candidate point, and judge whether reflected light from target 31 can be detected and laser follows the tracks of whether can be performed (step 07).
When estimative be that laser is followed the tracks of when can be performed, be counted as wanting measured object (object) by the determined object of images match, and target 31 can be detected (step 08).
When target 31 was detected, laser was followed the tracks of and is activated again.
When can not be when a plurality of candidate points detect target 31, estimative be impossible carry out search, and the driving of measurement mechanism 1 is stopped (step 09).
In aforesaid embodiment, be provided at first telescope 8 that is used with the range observation optical system usually for the 3rd image unit 13 that obtains the high power image, and magnification throw-over gear can be positioned on second telescope 9, and second image unit 12 and the 3rd image unit 13 can be disposed on second telescope 9.Wanting measured distance not on a large scale under the reformed situation, in second image unit 12 or the 3rd image unit 13 one, for example second image unit can be omitted.
Radiative luminous point can be used as target.In this case, the optical transmitting set (light source) of the light of emission specific wavelength is provided at mobile object.By detecting the light from this light source with the image unit in the present embodiment (in first, second or the 3rd image unit or all), can be with the similar mode tracking target of situation of following the tracks of with laser.
As a result of, in the measurement mechanism in applied embodiment, images match by template matches and the target following of being undertaken by the light that detects with image unit from the light source on the support component of mobile object are performed, and can obtain and identical in the above-described embodiments effect.
In addition, can provide the optical system of various power at second image unit, and can change magnification according to distance.
Claims (15)
1. measurement mechanism, described measurement mechanism comprises for the projecting laser light beam and be used for to receive comes catoptrical first image unit of the target that free support component supports, for second image unit that obtains the image that comprises described target and have the field angle wideer than the field angle of described first image unit, be used for distinguishing in the horizontal direction and moving in vertical direction the driver element of the sighted direction of described first image unit and described second image unit, graphics processing unit for the treatment of the image that obtains by described first image unit with by described second image unit, and be used for the described driver element of control so that described first image unit and described second image unit are handled based on the described image of the image that is obtained by described first image unit and handled and the control arithmetic element of directed described target based on the described image of the image that is obtained by described second image unit, it is that luminous point detects processing to obtain luminous point from described target that the image of the image of wherein said first image unit is handled, it is images match with the template image of setting up according to the image of described support component that the image of the image of wherein said second image unit is handled, and wherein said control arithmetic element is controlled described driver element in order to detect the result who handles or carry out the tracking of described target based on the result of described images match based on described luminous point.
2. measurement mechanism, described measurement mechanism comprises for first image unit that receives light from light source, described light source is mounted in the target on the support component, for second image unit that obtains the image that comprises described target and have the field angle wideer than the field angle of described first image unit, be used for distinguishing in the horizontal direction and moving in vertical direction the driver element of the sighted direction of described first image unit and described second image unit, be used for to carry out the graphics processing unit that the image of the image of taking by described first image unit with by described second image unit is handled, and be used for the described driver element of control so that described first image unit and described second image unit are handled based on the image of the image that is obtained by described first image unit and handled and the control arithmetic element of directed described target based on the image of the image that is obtained by described second image unit, it is that luminous point detects processing to obtain luminous point from described target that the image of the image of wherein said first image unit is handled, it is images match with the template image of setting up according to the image of described support component that the image of the image of wherein said second image unit is handled, and wherein said control arithmetic element is controlled described driver element so that any one that detects based on described luminous point among the result of the result that handles or described images match carried out the tracking of described target.
3. measurement mechanism according to claim 1 and 2, it is characterized in that, wherein under the obtained situation of the result that luminous point detection described in the result of described luminous point detection processing and described images match is handled, described control arithmetic element is controlled tracking based on the result that described luminous point detects processing.
4. measurement mechanism according to claim 1 and 2, it is characterized in that, wherein described luminous point detect handle and the result of described images match described in the luminous point result that detects processing do not have under the obtained situation of the result of obtained and described images match, described control arithmetic element is controlled tracking based on the result of described images match.
5. measurement mechanism according to claim 1 and 2, it is characterized in that, wherein said template image is the part of the object images that is established, so that two or more at least unique points are included, wherein from the image that is obtained by described second image unit, extract the described object images of described support component, and further from described object images, extract described unique point.
6. measurement mechanism according to claim 5 is characterized in that, also has distance measuring unit, wherein upgrades described template image in response to what measured by described distance measuring unit to the variation of the measuring distance of measuring object.
7. measurement mechanism according to claim 1 and 2, it is characterized in that, wherein, all do not having under the obtained situation from described luminous point detection processing neutralization two results from described images match, described control arithmetic element control is so that described driver element is stopped, obtain rest image by described second image unit, and carries out image coupling on the gamut at described rest image between described rest image and the described template image, and described control arithmetic element obtains the position of described target from described rest image based on the result of described images match.
8. measurement mechanism according to claim 7, it is characterized in that, wherein detecting by described images match under the situation of a plurality of candidate points, described control arithmetic element judges whether to obtain the luminous point from described target from candidate point, and judges whether the position that obtains described luminous point is the position of described target.
9. according to claim 1,2 described measurement mechanisms, it is characterized in that, also has distance measuring unit, wherein said second image unit can be taken the image of low magnification and the image of high power, and can select low magnification image to take and the high power image taking according to the measuring distance of being measured by described distance measuring unit to measuring object.
10. measurement mechanism according to claim 5, it is characterized in that, also has distance measuring unit, wherein said second image unit can be taken the image of low magnification and the image of high power, and can select low magnification image to take and the high power image taking according to the measuring distance of being measured by described distance measuring unit to measuring object.
11. measurement mechanism according to claim 1 and 2, it is characterized in that wherein said control arithmetic element is carried out based on described images match and followed the tracks of, detects the described luminous point of described target and return to described tracking operation based on the detection of described luminous point based on described images match.
12. automatic tracking method, described method comprises for the projecting laser light beam with for detection of the luminous point from the luminous point of target and detects step, for the step of the image that obtains target with the image of the support component that supports described target, and the images match step that is used for detecting by images match based on the described image that is taken described support component, wherein said luminous point detects step, for the step of the image that obtains target with the image of the support component that supports described target, and the images match step is carried out concurrently, and when the described testing result that detects step based on described luminous point is carried out tracking, do not obtain under enough results' the situation in the detection that detects in the step by described luminous point, carry out based on described images match step and follow the tracks of operation.
13. automatic tracking method according to claim 12 is characterized in that, wherein when carrying out tracking based on described images match step, detects described target according to described images match, and detects the described tracking operation of recovery based on luminous point.
14. automatic tracking method according to claim 12 is characterized in that, wherein said luminous point detection step projecting laser light beam and detection are from the reflected light of described target.
15. automatic tracking method according to claim 12 is characterized in that, wherein, detects in the step at described luminous point, described target is light source, and detected from the light of described light source emission.
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| JP2009-081140 | 2009-03-30 | ||
| JP2009081140A JP5469894B2 (en) | 2008-07-05 | 2009-03-30 | Surveying device and automatic tracking method |
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| JP5469899B2 (en) * | 2009-03-31 | 2014-04-16 | 株式会社トプコン | Automatic tracking method and surveying device |
| CN102506834B (en) * | 2011-11-16 | 2013-08-14 | 苏州亿帝电子科技有限公司 | Laser receiver |
| EP2860550B1 (en) * | 2013-10-09 | 2016-03-02 | Hexagon Technology Center GmbH | Scanner for spatial measurement |
| JP6336837B2 (en) * | 2014-07-09 | 2018-06-06 | 株式会社トプコン | Surveying equipment |
| JP6455877B2 (en) * | 2014-10-08 | 2019-01-23 | 株式会社トプコン | Surveying equipment |
| CN107289902A (en) * | 2017-06-20 | 2017-10-24 | 中国科学技术大学 | Binocular high-speed, high precision theodolite based on image recognition with tracking |
| EP4242586A3 (en) * | 2019-01-03 | 2023-11-22 | Leica Geosystems AG | Measuring system |
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| JP3621123B2 (en) * | 1993-12-28 | 2005-02-16 | 株式会社トプコン | Surveying instrument |
| US6574353B1 (en) * | 2000-02-08 | 2003-06-03 | University Of Washington | Video object tracking using a hierarchy of deformable templates |
| JP2009156772A (en) * | 2007-12-27 | 2009-07-16 | Topcon Corp | Surveying system |
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