CN102538684B - Stair measuring method based on three-dimensional photographic technology - Google Patents
Stair measuring method based on three-dimensional photographic technology Download PDFInfo
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- CN102538684B CN102538684B CN201110452465.7A CN201110452465A CN102538684B CN 102538684 B CN102538684 B CN 102538684B CN 201110452465 A CN201110452465 A CN 201110452465A CN 102538684 B CN102538684 B CN 102538684B
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Abstract
The invention discloses a stair measuring method based on a three-dimensional photographic technology, which comprises the steps of placing a non-coding point, placing a coding point, calibrating camera correcting plate and a camera, placing camera correcting plate, shoot pictures and leading the pictures into a software to build a three-dimensional model. The method is simple and easy to operate, and the defects that measurement accuracy is difficult to ensure, time and labor are consumed and efficiency is low by means of a traditional mechanical measurement method.
Description
Technical field
The present invention relates to a kind of method that the data such as length, orientation of stair are measured, particularly a kind of stair measuring method based on three-dimensional photographic technology.
Background technology
In actual life, we usually need to measure the data parameter such as length, orientation of stair, for use in the enforcement of some engineering project.And at present in most cases, employing be to go direct measurement by hand, accepted scale goes little by little actual measurement, then the data of gained is pieced together and is for further processing.But this traditional Mechanical measurement method has very large drawback: the precision that, accepted scale carries out directly measuring is difficult to ensure.Exist because actual measurement itself just has systematic error and stochastic error, add the impact of surrounding environment, and in actual measurement, be difficult to ensure the horizontal and vertical of scale, the benchmark of measurement is also in the middle of changing at any time, and final measuring error will be very large; Two, because the measurement environment (as light, space size, temperature etc.) of actual stair is poor and it is more sometimes to measure stair quantity, while causing actual measurement, can greatly lose time and energy, efficiency is lower; Three, in some cases, due to the restriction of measuring condition, the high cost of directly measuring with scale or the stair data that even cannot adopt the method for direct measurement to go acquisition to need; Four, adopt the method for directly measuring often consuming time longer, and occupy great space, very easily give upper the bringing inconvenience of people (especially some the elderlys or disabled person) in floor downstairs.
In recent years, Chinese society's aging speed is accelerated, and the increasing elderly and the disabled is faced with the daily inconvenient difficult problem of going downstairs in the action.Therefore, how to develop a set of escalator system to solve a difficult problem for their stair activity, there is very large realistic meaning and social effect.
Summary of the invention
The technical problem to be solved in the present invention is: in view of traditional existing all drawbacks of direct mechanical formula measuring method, the invention provides a kind of stair measuring method based on three-dimensional photographic technology.This method is simple, and the measuring accuracy of having avoided traditional Mechanical measurement method to exist is difficult to ensure card, takes time and effort the shortcoming of inefficiency.
Technical scheme of the present invention is: a kind of stair measuring method based on three-dimensional photographic technology, is characterized in that comprising the following steps:
1) at non-coding point of each side placement of the every one deck step of stair, and non-coding point is apart from 20 ~ 30 centimetres of the left and right end portions of step, the circular white point of non-coding point is with the vertical edge of step front side along aliging, and each non-coding point consistency from top to bottom that is positioned at the same side is in a straight line;
2), at the turning joining place of adjacent two staristeps, place encoded point along the path of non-coding point on stair;
3) two blocks of camera calibration plates are placed on respectively on different two-layer steps, and enclose a scale on every camera calibration plate side, then around camera calibration plate and scale, take from different perspectives multiple pictures with slr camera to demarcate;
4), at a camera calibration plate of the each placement of the central authorities of ground floor step and the central authorities of second layer step, this two-layer step, from a photo of the each shooting of two different angles, is obtained to first group of photo;
The camera calibration plate of ground floor step is taken off to the central authorities that are positioned over the 3rd layer of step, second layer step and the 3rd layer of step are respectively taken to a photo from two different angles, obtain second group of photo;
Then the camera calibration plate of second layer step is taken off to the central authorities that are positioned over the 4th layer of step, the 3rd layer of step and the 4th layer of step are respectively taken to a photo from two different angles, obtain the 3rd group of photo;
The like,
In the time photographing the turning joining place of adjacent two staristeps, two blocks of camera calibration plates are alternately arranged and taken before and after this turning joining place,
Until take complete the uppermost two-layer step of stair, obtain each group of photo;
5) all photos of taking are copied on computer, again these photos are imported to Xi'an Communications University's three-dimensional optical Digital Photogrammetric System, utilize this system automatically to set up the spatial model of whole tested stair, just can obtain the data message in stair length and orientation.
As preferably:
In described step 3), around camera calibration plate and scale, take from different perspectives 8 ~ 16 photos with slr camera to demarcate.
In described step 4), the shooting distance of camera is 1.5m, and screening-mode is white-black pattern, and light sensitivity is 200.
Advantage of the present invention is: the present invention is in view of traditional existing all drawbacks of direct mechanical formula measuring method, and a kind of indirectly measuring method proposed measure the data message such as length, orientation of stair, this measuring method first adopts camera shooting to obtain monumented point picture, then import software analysis, finally measure needed stair data.
One, this stair measuring method is simple and easy to do, and the measuring accuracy of having avoided traditional Mechanical measurement method to exist is difficult to ensure card, takes time and effort the shortcoming of inefficiency.
Two, this stair measuring method only need simply be layouted, be photographed, and then imports in software (XJTUDP) and carries out computation and measurement, just can draw needed stair data model, has saved a large amount of labour cost.Test of many times operation by our reality is found, adopts the measurement of carrying out in this way stair data, the time of comparable traditional direct method of measurement saving 30% ~ 40%.
Three, this stair measuring method is subject to the impact of environmental factor less, is not subject to space, the impact of the factors such as light, and under some mal-conditions, (as narrow space) also can be measured.
Four, this stair measuring method has very high precision, can meet actual engine request.Through us, data measured this novel measuring method and the data that repeatedly directly measurement obtains are contrasted to discovery, this measuring method is minimum with the data difference of repeatedly directly measuring gained, also improve measuring accuracy compared with actual, can have met actual measurement demand completely.
Five, in practice, this measuring method can be applied to a kind of the elderly of exploitation or the special escalator system of disabled person, to facilitate their trip.Applying this corridor escalator system of developing of cover measuring method of the present invention just can be for their stair activity provides great convenience, has also embodied our love of modern society to the elderly, has very large economic benefit and social benefit.
Six, this cover measuring method of the present invention has not only reduced cost, and has improved efficiency and precision, at home in prostatitis.
Therefore, the present invention not only has very large theory significance, more has huge real use value, economic and social benefit.
Brief description of the drawings
Fig. 1 is the process flow diagram of the embodiment of the present invention;
Fig. 2 is the structural representation of non-coding point in the embodiment of the present invention, wherein 1. rhombus black matrix; 2. circular white point;
Fig. 3 is the structural representation of camera calibration plate in the embodiment of the present invention;
Fig. 4 is Xi'an Communications University's three-dimensional optical Digital Photogrammetric System graphical interfaces subregion schematic diagram in the embodiment of the present invention, wherein: 3. menu area; 4. toolbar; 5. picture list area; 6. show current active picture; 7. show the relevant information of monumented point in current active picture; 8. engineering information viewing area; 9. three-dimensional result viewing area.
embodiment
In recent years, Chinese society's aging speed is accelerated, and the increasing elderly and the disabled is faced with the daily inconvenient difficult problem of going downstairs in the action.Therefore, develop a set of escalator system to solve a difficult problem for their stair activity, there is very large realistic meaning and social effect.
Escalator system will be installed on stair, first to measure the data message such as length, orientation of stair, the present embodiment provides a kind of stair measuring method based on three-dimensional photographic technology, and shown in Fig. 1, this measuring method comprises the following steps:
1) place non-coding point: at non-coding point of each side placement of the every one deck step of stair (as shown in Figure 2, the center of encoded point is circular white point 2, be around rhombus black matrix 1), and non-coding point is apart from 20 ~ 30 centimetres of step left and right end portions (this segment distance is placed escalator according to designing requirement for the later stage), the circular white point 1 of non-coding point and the vertical edge of step front side are along aliging (width that equals step below with the horizontal range between two rank white points up and down that ensures to identify), each non-coding point consistency from top to bottom that is positioned at the same side is in a straight line and (is positioned at each non-coding point consistency from top to bottom in left side, be positioned at each non-coding point consistency from top to bottom on right side, to ensure that the guide rail of escalator that the later stage installs is as straight smooth shape).
2) place encoded point: (total institute is known at the turning joining place of adjacent two staristeps, stair are made up of multiple staristep, between staristep and staristep, be connected by an area larger " platform ", what described " turning joining place " referred to is exactly this " platform "), encoded point is placed in path along non-coding point on stair, until be connected to next staristep.
The putting density and should meet in step 4) in every photo that this joining place is taken and have 4 encoded points at least of encoded point, do like this linking that has just ensured data between each staristep, thereby be the interrelated benchmark that provides of each staristep size, and then construct the overall space model of whole stair.
3) calibration for cameras correction plate and camera: it is (convenient for taking that two blocks of camera calibration plates are placed on respectively on different two-layer steps, generally be placed on neighbouring two-layer step), and enclose a scale (length 258mm) on every camera calibration plate side, then use slr camera to take from different perspectives multiple (being generally 8 ~ 16) photos to demarcate (will make camera calibration plate and scale all in coverage) (in the time taking, general camera distance camera calibration plate and the about 1.5m of scale) around camera calibration plate and scale.And note, in the time taking first photo, focusing, while taking again other photo, keep the focal length of camera constant later.
4) place camera calibration plate taking pictures: place separately a camera calibration plate in the central authorities of ground floor step (being the step of the bottom) and the central authorities of second layer step and (can make like this distance between non-coding point and the positive plate of school camera of both sides roughly equal, so that the collection of photo below), and this two-layer step is respectively taken to a photo from two different angles (common as the right and left deflection 45° angle), obtain first group of (two) photo;
The camera calibration plate of ground floor step is taken off to the central authorities that are positioned over the 3rd layer of step, second layer step and the 3rd layer of step are respectively taken to a photo from two different angles, obtain second group of photo;
Then the camera calibration plate of second layer step is taken off to the central authorities that are positioned over the 4th layer of step, the 3rd layer of step and the 4th layer of two, step are respectively taken to a photo from different perspectives, obtain the 3rd group of photo;
The like, until take complete the uppermost two-layer step of stair, obtain each group of photo.
It should be noted that: in the time photographing the turning joining place of adjacent two staristeps, because the space of turning joining place (" platform ") is larger, conventionally once take and can not cover whole turning completely, so while taking pictures herein, above-mentioned two blocks of camera calibration plates alternately to be arranged and repeatedly taken before and after this turning joining place (for ease of understanding, now these words are made an explanation: first, A correction plate rear (being all placed on " platform "), is taken one group of photo at front, B correction plate; Then A correction plate is moved to after B correction plate, then takes one group of photo; Then again B correction plate is moved to after A correction plate, takes again one group of photo; Take successively, until be connected to next staristep).
In this step, the shooting that stair are carried out should meet: while 1. shooting, camera should use white-black pattern, and light sensitivity 200 is good; When light is dark especially, can improve light sensitivity, but keep stable will note taking time; 2. while shooting, should adopt autofocus mode, flashlamp is in open mode.When shooting, will to remain focal length in the time of step 3) calibration for cameras correction plate constant for the focal length of camera, in shooting process, do not focalize; 3. while shooting, camera does not rock, and ensures that photo is not fuzzy; 4. ensure at least to comprise in every photo 4 non-coding points (photo requirement that adjacent two staristep turning joining places are taken at two camera calibration plates and these step two ends, two camera calibration plate places, see step 2) content), and will ensure the sharpness of photo, thereby ensure that follow-up photo imports its encoded point and non-coding point after software and can be identified.
5) photo is imported to software and set up model: all photos of taking are copied on computer, again these photos are imported to Xi'an Communications University's three-dimensional optical Digital Photogrammetric System (being called for short XJTUDP), utilize this system automatically to set up the spatial model of whole tested stair, just can obtain the data message such as length, orientation of stair.
Above-mentioned " Xi'an Communications University's three dimensional optical measuring system " is widely used in three-dimensional measurement, reverse engineer, product quality detection, dimension control, the deformation analysis of the 3 D complex curved face product of the manufacturings such as auto industry, airplane industry, machine-building, Design of Dies, household electrical appliances.XJTUDP is the close shot industrial photogrammetry system of domestic unique independent intellectual property right, is a portable three-coordinate industrial measuring system.With common high resolving power slr camera (non-metric camera), by several 2-dimentional photos, calculate surface of the work key point three-dimensional coordinate, adopt encoded point technology to realize automatic measurement.For the key point of medium-sized, large-scale (several meters to tens meters) object is carried out to three-dimensional measurement.Compared with traditional three-coordinates measuring machine, there is no mechanical trip restriction, be not subject to size, the volume of testee, the restriction of profile, can effectively reduce cumulative errors, improve the measuring accuracy of overall three-dimensional data.Can replace traditional laser tracker, joint arm, transit etc., and there is no loaded down with trivial details station transfer problem, can comprehensively measure easily large-scale workpiece.
Certainly, above-described embodiment is only explanation technical conceive of the present invention and feature, and its object is to allow people can understand content of the present invention and implement according to this, can not limit the scope of the invention with this.All equivalent transformation or modification that according to the present invention, the Spirit Essence of main technical schemes does, within all should being encompassed in protection scope of the present invention.
Claims (3)
1. the stair measuring method based on three-dimensional photographic technology, is characterized in that comprising the following steps:
1) at non-coding point of each side placement of the every one deck step of stair, and non-coding point is apart from 20～30 centimetres of the left and right end portions of step, the circular white point of non-coding point is with the vertical edge of step front side along aliging, and each non-coding point consistency from top to bottom that is positioned at the same side is in a straight line;
2), at the turning joining place of adjacent two staristeps, place encoded point along the path of non-coding point on stair;
3) two blocks of camera calibration plates are placed on respectively on different two-layer steps, and enclose a scale on every camera calibration plate side, then around camera calibration plate and scale, take from different perspectives multiple pictures with slr camera to demarcate;
4), at a camera calibration plate of the each placement of the central authorities of ground floor step and the central authorities of second layer step, this two-layer step, from a photo of the each shooting of two different angles, is obtained to first group of photo;
The camera calibration plate of ground floor step is taken off to the central authorities that are positioned over the 3rd layer of step, second layer step and the 3rd layer of step are respectively taken to a photo from two different angles, obtain second group of photo;
Then the camera calibration plate of second layer step is taken off to the central authorities that are positioned over the 4th layer of step, the 3rd layer of step and the 4th layer of step are respectively taken to a photo from two different angles, obtain the 3rd group of photo;
The like,
In the time photographing the turning joining place of adjacent two staristeps, above-mentioned two blocks of camera calibration plates are alternately arranged and taken before and after this turning joining place,
Until take complete the uppermost two-layer step of stair, obtain each group of photo;
5) all photos of taking are copied on computer, then these photos are imported to three-dimensional optical Digital Photogrammetric System, utilize this system automatically to set up the spatial model of whole tested stair, just can obtain the data message in stair length and orientation.
2. the stair measuring method based on three-dimensional photographic technology according to claim 1, is characterized in that: in described step 3), take from different perspectives 8～16 photos to demarcate with slr camera around camera calibration plate scale.
3. the stair measuring method based on three-dimensional photographic technology according to claim 1 and 2, is characterized in that: in described step 4), the shooting distance of camera is 1.5m, and screening-mode is white-black pattern, and light sensitivity is 200.
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| CN108230320A (en) * | 2018-01-18 | 2018-06-29 | 上海爱优威软件开发有限公司 | Number of staircases statistical method and system |
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| CN101520319A (en) * | 2008-02-27 | 2009-09-02 | 邹小平 | Composite three-dimensional laser measurement system and measurement method |
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| CN101520319A (en) * | 2008-02-27 | 2009-09-02 | 邹小平 | Composite three-dimensional laser measurement system and measurement method |
Non-Patent Citations (4)
| Title |
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| 刘建伟等.大尺寸工业视觉测量系统.《光学精密工程》.2010,第18卷(第1期),第126-134页. |
| 基于近景摄影测量和三维光学测量的大幅面测量新方法;张德海等;《中国机械工程》;20090415;第20卷(第7期);第817-822页 * |
| 大尺寸工业视觉测量系统;刘建伟等;《光学精密工程》;20100131;第18卷(第1期);第126-134页 * |
| 张德海等.基于近景摄影测量和三维光学测量的大幅面测量新方法.《中国机械工程》.2009,第20卷(第7期),第817-822页. |
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