CN107193286A - Bridge outdoor scene digital collection method - Google Patents
Bridge outdoor scene digital collection method Download PDFInfo
- Publication number
- CN107193286A CN107193286A CN201710406248.1A CN201710406248A CN107193286A CN 107193286 A CN107193286 A CN 107193286A CN 201710406248 A CN201710406248 A CN 201710406248A CN 107193286 A CN107193286 A CN 107193286A
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- bridge
- vehicle equipment
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- outdoor scene
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000004891 communication Methods 0.000 claims description 11
- 239000011800 void material Substances 0.000 claims 1
- 238000000605 extraction Methods 0.000 abstract description 2
- 238000004321 preservation Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 5
- 230000007547 defect Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013079 data visualisation Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Accessories Of Cameras (AREA)
- Studio Devices (AREA)
Abstract
The invention provides a kind of bridge outdoor scene digital collection method, comprise the following steps：A. determine that virtual reality collecting device is installed on the position of vehicle equipment；B. virtual reality collecting device is moved to by target bridge region by vehicle equipment；C. vehicle equipment is communicated with the bridge machinery identification label of bridge area, determines the pose of oneself；D. control the virtual reality collecting device to be shot the vehicle equipment, and during records photographing the acquisition parameters of each camera lens and the vehicle equipment posture information.The present invention solve present in prior art the problems such as being difficult to efficiently and accurately gather bridge damage information, further promote to carry out extraction and preservation efficiently and accurately to bridge outdoor scene information.
Description
Technical field
The invention belongs to traffic engineering technical field, it is related to a kind of bridge outdoor scene digital collection method.
Background technology
At present, traditional bridge image information collecting means are cameras, but limited due to shooting personnel time or energy, one
As can not possibly complete the shooting to bridge panorama, and evidence obtaining of taking pictures only is carried out to the position being damaged.Take pictures necessary when collecting evidence
Corresponding bridge and component information are recorded, otherwise can not be investigated in the later stage.In terms of the visualization of data, typically it is only capable of pair
The damage picture of specific bridge is transferred and checked, it is impossible to accomplish the reduction to bridge outdoor scene.
With the development of VR acquisition techniques, its picture fine degree is improved constantly, and lens distortion rate is low, under cost is continuous
Drop so that it has wide application prospect in all trades and professions.Bridge is the structure for possessing many complex components, traditional bridge
Beam outdoor scene acquisition technique is wasted time and energy, and due to artificial carelessness, the leakage for being likely to result in damage data is adopted.VR acquisition techniques are drawn
Enter bridge defect detection field, can greatly lift the efficiency of data acquisition, improve the quality of data acquisition, and reduce number
Requirement according to collector to grasp bridge professional knowledge.And then, VR acquisition techniques are introduced into bridge defect collection field has
Extremely strong Research Significance and application value.
In the prior art, although have been directed to the technology using VR collecting devices in film shooting and archaeology field, still
On the bridge as the detection object entirely different with this, but without reference to the technology using VR collecting devices, and due to making
Bridge and management object commonly for special object have the very big difference in terms of actual nature, construction distribution situation,
It is even more the concrete application technology that VR collecting devices are not present in the collection of bridge panorama outdoor scene in the prior art.
The content of the invention
To overcome the defect present in prior art, a kind of bridge outdoor scene digital collection method is now provided, it is existing to solve
Have present in technology the problems such as being difficult to efficiently and accurately gather bridge damage information, further promote to bridge outdoor scene information
Carry out extraction and preservation efficiently and accurately.
To achieve the above object, solution of the invention is：
A kind of bridge outdoor scene digital collection method, comprises the following steps：
A. according to mission requirements, it is determined that virtual reality collecting device to be installed on to the position of vehicle equipment, set by carrier
It is standby that the virtual reality collecting device is moved to target bridge region；
B. the vector machines people is communicated to determine the pose of oneself with bridge machinery identification label；
C. the vector machines people moves and controlled virtual reality according to advance programming or by manually operating
The shooting of collecting device, and the posture information of the acquisition parameters of record camera and vector machines people simultaneously.
Preferably, following steps are specifically included when carrying out step a：
The virtual reality collecting device is placed in the bottom of the vehicle equipment to gather the bridge of the target bridge
Face is mated formation, bridge crosses over entity, the image information of bridge floor affiliated facility, bridge pier；
Or be placed in the top of the vehicle equipment to gather the target bridge by the virtual reality collecting device
Beam bottom, bridge floor affiliated facility, the image information of bridge pier.
Preferably, it is further comprising the steps of when carrying out step c：
The virtual reality collecting device is connected to the vehicle equipment by communication interface, taking human as the permission carrier
Equipment controls the keying of the virtual reality collecting device, and the real-time azimuthal information of itself is conveyed to institute by the vehicle equipment
State virtual reality collecting device.
Preferably, the communication interface has wired and is wirelessly transferred linkage function simultaneously, and the vehicle equipment passes through
The communication interface controls the acquisition parameters of the virtual reality collecting device.
Preferably, it is further comprising the steps of when carrying out step b：
Control the vehicle equipment automatic identification itself position in space and posture；
Stored in the bridge machinery identification label from the absolute coordinate information in bridge coordinate system, the carrier
Equipment with the bridge machinery by recognizing that label interacts the pose so that it is determined that certainly in bridge coordinate system.
Preferably, when shooting the outdoor scene of the target bridge, institute is directly gathered by the virtual reality collecting device
State the panoramic information of target bridge.
Preferably, the vehicle equipment is manually controllable vector machines people.
The beneficial effect of bridge outdoor scene digital collection method of the present invention includes：
Bridge machinery is recognized that label and VR acquisition techniques are applied to bridge machinery engineering so that detection means can be efficient
Ground is digitized collection to bridge outdoor scene information, drastically increases accuracy of data acquisition, reduces data acquisition cost, and
And bridge outdoor scene can be reduced.
Brief description of the drawings
Fig. 1 is the logic diagram of bridge outdoor scene digital collection method of the present invention.
Embodiment
The present invention is further illustrated below in conjunction with accompanying drawing illustrated embodiment.
As shown in figure 1, the invention provides a kind of bridge outdoor scene digital collection method, comprising the following steps：
A. according to mission requirements, by virtual reality (hereinafter referred to as VR) collecting device be loaded into vector machines people top or
Bottom；
B. vector machines people is made to be moved to target bridge region；
C. vector machines people is communicated to determine the pose of oneself with bridge machinery identification label；
D. vector machines people moves and controlled virtual reality to gather according to advance programming or by manually operating
The shooting of equipment, and the posture information of the acquisition parameters of record camera and vector machines people simultaneously.
Wherein, the VR collecting devices have the communication interface relative to vector machines people, to allow vector machines people to control
The unlatching of VR collecting devices processed, and the posture information of itself is conveyed to VR collecting devices.
VR collecting devices described in above-mentioned steps a can be placed in vector machines people bottom, with gather deck paving, bridge institute across
More the image information at the position such as entity, bridge floor affiliated facility, image information of bridge pier (cross over entity and refer to bridge institute by the bridge
The objects such as river, road, the general land of leap)；Also VR collecting devices can be placed at the top of vector machines people, to gather bridge
Liang Liang bottoms, the image information at the position such as bridge floor affiliated facility, bridge pier (whether using which kind of mounting means, can gather bridge
The image information of pier and bridge floor affiliated facility, wherein, bridge affiliated facility refers to the objects such as railing, electric wire, street lamp).
Vector machines people described in above-mentioned steps a has the mounting interface being connected with VR collecting devices, respectively positioned at carrier machine
VR collecting devices, can be fixed on vector machines people by the top and bottom of device people.
Vector machines people described in above-mentioned steps b can enough recognize itself position in space by GPS.Specifically, first
The general location of oneself is determined by GPS, and is flown near bridge space, then recognizes that label is further smart by bridge machinery
It is determined that position and the confirmation posture of oneself.
Vector machines people described in above-mentioned steps c can recognize tag recognition itself in space by GPS and bridge machinery
Position and posture；Oneself absolute coordinate information in bridge coordinate system, vector machines are stored in bridge machinery identification label
People with bridge machinery by recognizing that label interacts the pose so that it is determined that certainly in bridge coordinate system.
VR collecting devices described in above-mentioned steps d have the communication interface with vector machines people, and the communication interface can be had
The form of line or wireless form.The communication interface be used for transport vehicle robot to the unlatchings of VR collecting devices and
Shutdown signal, is additionally operable to posture information of the transport vehicle robot in shooting；The acquisition parameters of camera refer to focal length, amplification
Than, the parameter such as aperture, vertical shift, white balance, shutter speed, film speed ISO, the depth of field；The pose of vector machines people refers to
Absolute position of the vector machines people in pre-defined bridge coordinate system and the posture relative to bridge coordinate system.
Using above-mentioned steps a~d methods describeds, the outdoor scene collection to bridge panoramic information can be completed.
Specifically, determine that VR collecting devices are installed on the mode of vector machines people by mission requirements, then by vector machines people
VR collecting devices are transported to the collection that bridge area carries out bridge outdoor scene.Vector machines people is by preprogramming or by artificial
The mode of control is moved in bridge area, and controls the shooting of VR collecting devices, is completed the digitlization to bridge outdoor scene and is adopted
Collection.In shooting process, vector machines people to VR collecting devices can be transferred from the pose of body in space by the communication interface
Information and the acquisition parameters for controlling VR collecting devices, to facilitate the later stage to reproduce outdoor scene.
Complete after above-mentioned implementation process, the following characteristics of the present invention should be able to be embodied：
It is easily achieved, resource consumption is less, collection contains much information and finely, data visualization degree is high.
The above-mentioned description to embodiment is understood that for ease of those skilled in the art and using this hair
It is bright.Person skilled in the art obviously easily can make various modifications to these embodiments, and described herein
General Principle is applied in other embodiment without passing through performing creative labour.Therefore, the invention is not restricted to above-described embodiment,
Those skilled in the art are according to the announcement of the present invention, and not departing from improvement and modification that scope made all should be in this hair
Within bright protection domain.
Claims (8)
1. a kind of bridge outdoor scene digital collection method, it is characterised in that comprise the following steps：
A. virtual reality collecting device is moved to target bridge region；
B. the vehicle equipment is communicated to determine the pose of oneself with bridge machinery identification label；
C. the vehicle equipment moves according to advance programming or by manually operating and controls the virtual reality to adopt
Collection equipment is shot to the target bridge, while recording the acquisition parameters of camera and the posture information of vehicle equipment.
2. bridge outdoor scene digital collection method according to claim 1, it is characterised in that have when carrying out step a
Comprise the following steps：
A1. according to mission requirements, it is determined that virtual reality collecting device to be installed on to the position of vehicle equipment；
A2. the virtual reality collecting device is moved to by target bridge region by vehicle equipment.
3. bridge outdoor scene digital collection method according to claim 2, it is characterised in that specific when carrying out step a1
Comprise the following steps：
The virtual reality collecting device is placed in into the bottom of the vehicle equipment to gather the bridge floor paving of the target bridge
Dress, bridge cross over entity, bridge floor affiliated facility, the image information of bridge pier；
Or the virtual reality collecting device is placed in the top of the vehicle equipment for gather the target bridge beam bottom,
The image information of bridge floor affiliated facility, bridge pier.
4. bridge outdoor scene digital collection method according to claim 1, it is characterised in that also wrapped when carrying out step c
Include following steps：
The virtual reality collecting device is connected to the vehicle equipment by communication interface, taking human as the permission vehicle equipment
The keying of the virtual reality collecting device is controlled, and the real-time azimuthal information of itself is conveyed to the void by the vehicle equipment
Intend real collecting device.
5. bridge outdoor scene digital collection method according to claim 4, it is characterised in that：The communication interface has simultaneously
Wired and be wirelessly transferred linkage function, the vehicle equipment controls the virtual reality collection to set by the communication interface
Standby acquisition parameters.
6. bridge outdoor scene digital collection method according to claim 1, it is characterised in that also wrapped when carrying out step b
Include following steps：
Position and posture of the vehicle equipment energy automatic identification certainly in pre-defined bridge coordinate system；
Stored in the bridge machinery identification label from the absolute coordinate information in bridge coordinate system, the vehicle equipment
By recognizing that label interacts the pose so that it is determined that certainly in bridge coordinate system with the bridge machinery.
7. bridge outdoor scene digital collection method according to claim 1, it is characterised in that shooting the target bridge
Outdoor scene when, directly pass through the panoramic information that the virtual reality collecting device gathers the target bridge.
8. according to any described bridge outdoor scene digital collection method of claim 1 to 7, it is characterised in that：The carrier is set
Standby is manually controllable vector machines people.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710406248.1A CN107193286B (en) | 2017-06-02 | 2017-06-02 | Bridge live-action digital acquisition method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710406248.1A CN107193286B (en) | 2017-06-02 | 2017-06-02 | Bridge live-action digital acquisition method |
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| Publication Number | Publication Date |
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| CN107193286A true CN107193286A (en) | 2017-09-22 |
| CN107193286B CN107193286B (en) | 2020-12-08 |
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| CN201710406248.1A Active CN107193286B (en) | 2017-06-02 | 2017-06-02 | Bridge live-action digital acquisition method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109272573A (en) * | 2018-09-07 | 2019-01-25 | 东南大学 | The wisdom bridge visualization system of three-dimensional digital model and three-dimensional live models coupling |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109272573A (en) * | 2018-09-07 | 2019-01-25 | 东南大学 | The wisdom bridge visualization system of three-dimensional digital model and three-dimensional live models coupling |
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| Publication number | Publication date |
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| CN107193286B (en) | 2020-12-08 |
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