CN107289902A - Binocular high-speed, high precision theodolite based on image recognition with tracking - Google Patents
Binocular high-speed, high precision theodolite based on image recognition with tracking Download PDFInfo
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- CN107289902A CN107289902A CN201710469340.2A CN201710469340A CN107289902A CN 107289902 A CN107289902 A CN 107289902A CN 201710469340 A CN201710469340 A CN 201710469340A CN 107289902 A CN107289902 A CN 107289902A
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- camera
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- pitching
- speed
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
- G01C1/02—Theodolites
- G01C1/04—Theodolites combined with cameras
Abstract
The invention discloses a kind of binocular high-speed, high precision theodolite based on image recognition with tracking, including tracking camera and shooting camera, track the both sides that camera is arranged on same pitching power transmission shaft with shooting camera, pitching motor is arranged on by bearing on the gyroaxis of azimuth-drive motor, pitching power transmission shaft is connected with pitching shaft encoder, the gyroaxis of azimuth-drive motor is connected with orientation shaft encoder, and azimuth-drive motor is fixed on pedestal.Azimuth-drive motor and pitching motor adjust the posture of two cameras according to the result of tracking camera collection image, target is set to be always positioned in the field range of the shooting camera, shoot camera to shoot target with Fixed Time Interval, thus complete the track record under targeted cache motion, speed drastically change.The automatic precision tracking under targeted cache moving condition can be realized, whole device compact conformation, center of gravity are low, lightweight, and tracking camera and the fast response time for shooting camera pose adjustment, the image quality for shooting camera are high.
Description
Technical field
The present invention relates to a kind of high speed and precision measurement apparatus, more particularly to a kind of binocular based on image recognition and tracking are high
Fast high accuracy theodolite.
Background technology
At present, for the accurate measurement of high-speed moving object, mainly using electro-optic theodolite.With the development of science and technology
The need for research, the accurate measurement to high-speed moving object causes extensive attention, to the tracking velocity of electro-optic theodolite and
Precision it is also proposed higher and higher requirement.
Using monocular tracking more than current electro-optic theodolite, attitude regulation mode is to adjust or automatically adjust manually：Adjust manually
Save governing speed unstable, be easily lost target, image quality is poor, and measurement accuracy is not high；Automatically adjust and be limited to image procossing
The flexibility of speed and mechanical structure, governing speed can not meet the accurate measurement request to high-speed moving object.At present, to sound
Speed and following experiment are typically measured by the way of artificial track up, but this measurement image quality is not high, it is impossible to
Adapt to the requirement of high-speed test (HST)；To ultrasonic experiment typically by the way of many high speed camera segmentation relays, orientations are shot
Measure, but this can not obtain complete motion picture.
The content of the invention
It is an object of the invention to provide a kind of binocular high-speed, high precision theodolite based on image recognition with tracking.
The purpose of the present invention is achieved through the following technical solutions：
The binocular high-speed, high precision theodolite based on image recognition with tracking of the present invention, including track camera and shoot phase
Machine, the tracking camera is arranged on the both sides of same pitching power transmission shaft with shooting camera, and pitching motor is arranged on side by bearing
On the gyroaxis of position motor, the pitching power transmission shaft is connected with pitching shaft encoder, and the gyroaxis of the azimuth-drive motor is connected with
Orientation shaft encoder, the azimuth-drive motor is fixed on pedestal.
As seen from the above technical solution provided by the invention, it is provided in an embodiment of the present invention based on image recognition with
The installation site of the binocular high-speed, high precision theodolite of track, tracking camera and shooting camera can adjust, can be by adjusting camera
Installation site and the mode of increase counterweight realize balance of shaking force around fixing axle revolving member, reduce mechanical oscillation.Can be with
The automatic precision tracking under targeted cache moving condition is realized, whole device compact conformation, center of gravity are low, lightweight, track phase
Machine and the fast response time for shooting camera pose adjustment, the image quality for shooting camera are high.
Brief description of the drawings
Fig. 1 is the section provided in an embodiment of the present invention based on image recognition with the binocular high-speed, high precision theodolite of tracking
Structural representation；
Fig. 2 is the side provided in an embodiment of the present invention based on image recognition with the binocular high-speed, high precision theodolite of tracking
Structural representation；
Fig. 3 is the vertical view provided in an embodiment of the present invention based on image recognition with the binocular high-speed, high precision theodolite of tracking
Structural representation；
Fig. 4 is theodolite trace flow schematic diagram in the embodiment of the present invention.
Label in figure：
1- pedestals, 2- orientation shaft encoder, 3- azimuth-drive motors, 4- tracking camera, 5- tracking camera support, 6- pitch axis are compiled
Code device, 7- bearings, 8- pitching motors, 9- pitching power transmission shaft, 10- shoot camera support, 11- and shoot camera.
Embodiment
With reference to the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Based on this
The embodiment of invention, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to protection scope of the present invention.
The binocular high-speed, high precision theodolite based on image recognition with tracking of the present invention, its preferably embodiment
It is：
Including tracking camera and shooting camera, the tracking camera is with shooting camera is arranged on same pitching power transmission shaft two
Side, pitching motor is arranged on by bearing on the gyroaxis of azimuth-drive motor, and the pitching power transmission shaft is connected with pitching shaft encoder,
The gyroaxis of the azimuth-drive motor is connected with orientation shaft encoder, and the azimuth-drive motor is fixed on pedestal.
The tracking camera is big visual field camera, and using short-focus lens, the shooting camera is high speed camera, using focal length
Camera lens.
The installation site of the tracking camera and shooting camera can adjust, and be matched somebody with somebody by the installation site and increase that adjust camera
The tracking camera and the center of gravity of shooting camera is overlapped with the axis of the pitching power transmission shaft again, and make the bearing and its branch
Total barycenter of the pitch system of support and the revolution overlapping of axles of the azimuth-drive motor.
The tracking camera catches the position of target based on image recognition, and the azimuth-drive motor and pitching motor are according to described
The result for tracking camera collection image adjusts the posture of two cameras, target is always positioned at the visual field model of the shooting camera
In enclosing, the shooting camera is shot with Fixed Time Interval to target, is thus completed targeted cache motion, speed and is drastically become
Track record under changing.
This is included based on image recognition and the key step of the binocular high-speed, high precision theodolite track record of tracking：
Track camera and utilize the characteristics of its visual field is big, target is caught based on characteristics of image, and data are transmitted to host computer；
Host computer carries out the action of pose adjustment according to data two motors of calculating are caught, and action command is sent into orientation
The action data of motor is fed back to host computer by motor and pitching motor, the encoder of two electric machine built-ins, realizes motor action
Closed-loop high-precision control；
Camera is shot with Fixed Time Interval shooting image, orientation shaft encoder and pitch axis while camera is shot is shot
Encoder reads current location data, after the completion of data acquisition, and view data and position data are uploaded；
Host computer, which is checked whether, receives END instruction, if so, then terminating to track, completing record；Otherwise, camera and two is shot
Shaft encoder will continue with Fixed Time Interval gathered data, and host computer is by based on the current motion data prediction target of target
Next step is moved, and carries out corresponding pose adjustment, and tracking camera catches target again, hence into keeping track of next time.
The binocular high-speed, high precision theodolite based on image recognition with tracking of the present invention, is carried out high to high-speed moving object
Precision can solve that current theodolite governing speed is slow, be easily lost target, the problem of measurement accuracy is low from motion tracking.
Using the present invention, it is possible to achieve the automatic precision tracking under targeted cache moving condition, whole device structure is tight
Gather, center of gravity is low, lightweight, tracking camera and the fast response time for shooting camera pose adjustment, the image quality for shooting camera are high.
Specific embodiment：
1), based on image recognition from motion tracking theodolite.As shown in figure 1, novel theodolite includes two cameras：Tracking
Camera 4 and shooting camera 11.The both sides that camera 4 is arranged on pitching power transmission shaft 9 with shooting camera 11 are tracked, the posture of two cameras is adjusted
It is whole to be completed by azimuth-drive motor 3 and pitching motor 8.Wherein tracking camera 4 is big visual field camera, using short-focus lens；Big visual field is protected
Card tracking target will not lose target all the time in field range, and by automatic track algorithm keep to target persistently with
Track.Shooting camera 11 is high speed camera, and using telephoto lens, field range is small, can be with the picture rich in detail of photographic subjects.Track phase
Machine 4 and shooting camera 11 are designed using common optical axis, and field of view center is overlapped.Therefore, using the group of big visual field camera and high speed camera
The automatic track record for completing high-speed moving object is closed, wherein tracking camera 4 catches the position of target based on image recognition, it is ensured that
Target will not be lost；Azimuth-drive motor 3 and pitching motor 8 adjust two-phase according to the result of the tracking collection image of camera 4 simultaneously
The posture of machine, makes target be always positioned at shooting in the field range of camera 11；Camera 11 is shot then with Fixed Time Interval to mesh
Mark is shot, and thus completes the track record under targeted cache motion, speed drastically change.
2), the theodolite based on motor and encoder assembles.As shown in figure 1, novel theodolite includes two groups of motors and volume
The combination of code device：Azimuth-drive motor 3 and orientation shaft encoder 2, pitching motor 8 and pitching shaft encoder 6.Wherein motor and encoder
Built-in radial thrust bearing, can bear part radial load and axial force.To complete the high-speed, high precision tracking of target, two cameras
Pose adjustment response it is particularly important, it is desirable to the time is short, precision is high.Therefore, the rotation system being made up of camera and supporting construction
Middle tracking camera 4 is lightweight camera with shooting camera 11, tracking camera support 5, shooting camera support 10, bearing 7 and pitching
Power transmission shaft 9 is processed using light material, to ensure rotary inertia that rotation system is relatively low；Azimuth-drive motor 3 and pitching motor 8 are
Large driving force, the pot motor of built-in encoder, to ensure that attitude regulation high-speed, high precision is completed；The He of orientation shaft encoder 2
Pitching shaft encoder 6 is high-precision encoder, to ensure the high accuracy of camera position data.Meanwhile, in motor and encoder
Bearing is put to reduce coefficient of friction, improve rotating accuracy.Due to need not additionally install bearing, installing space has been saved, has been made
Device is more compact.In addition, pitching motor 8 and pitching shaft encoder 6 are distributed in the both sides of pitching power transmission shaft 9, pitching biography is reduced
9 bending moments of moving axis, it is ensured that the security of pitching power transmission shaft 9.
3), based on the adjustable theodolite of center of gravity.Inertia force will be produced when component is around fixing axle gyration, can be in mechanism
Cause dynamic pressure in kinematic pair, and pass in frame.The size and Orientation of resulting inertia force is with component gyration
Circulate and produce cyclically-varying, when inertia force is uneven, will vibrate whole device, cause operating accuracy and reliable
The reduction of property.Therefore, the balance of inertia force is extremely important in high-speed, high precision motion.When the total barycenter of device and axis of rotation weight
During conjunction, the inertia force produced by gyration will be zero.As shown in Fig. 2 pitch system is supported by bearing 7, tracking camera 4 can be with
Peace of the tracking camera 4 on tracking camera support 5 is adjusted on the mounting plane perpendicular to pitching power transmission shaft 9 relative to bearing 7
Holding position, makes the center of gravity of tracking camera 4 be overlapped with the axis of pitching power transmission shaft 9；Shooting camera 11 can be relative to bearing 7 vertical
Camera 11 is shot in adjustment on the mounting plane of pitching power transmission shaft 9 and is shooting the installation site on camera support 10, makes shooting phase
The center of gravity of machine 11 is overlapped with the axis of pitching power transmission shaft 9.As shown in figure 3, bearing 7 can be relative to azimuth-drive motor 3 perpendicular to side
Installation site is adjusted on the mounting plane of the position gyroaxis of motor 3, makes the total barycenter and orientation of bearing 7 and its pitch system of support
Motor 3 turns round overlapping of axles.Therefore, the center of gravity or increase counterweight of respective members are can adjust, component is produced when occurring gyration
Inertia force be zero, it is ensured that device high speed adjust under keep high accuracy.The center of gravity of other device is lower, and device is more stable, because
The height of this whole device will control to arrive minimum, and the height of bearing 7 is that the height for being just met for camera rotation is advisable.
If it is m to need the component quality adjustedb, its radius vector in the plane perpendicular to axis of rotation is rb, remaining each several part
Quality and vector radius be respectively mi、ri.When the barycenter of device is overlapped with axis of rotation, have
mbrb+Σmiri=0---------- (1)
Therefore, the radius vector of camera can be determined according to above formula first, the installation site of camera is adjusted, makes pitching power transmission shaft 9
On the component barycenter that is coupled overlapped with its axis of rotation, eliminate the inertia force produced during elevating movement.Then according to bearing 7 and
Total centroid position of its pitch system supported, coupling or accordingly increasing counterweight for adjustment bearing 7 and azimuth-drive motor 3, makes branch
Total barycenter of seat 7 and its pitch system of support is overlapped with the motor revolving shaft line of orientation 3, eliminates the inertia produced during azimuth motion
Power.So that the inertia force that device is produced when adjusting at a high speed by gyration is zero, it is ensured that the high-speed, high precision of device regulation.
4), based on the theodolite judged in advance target motion.When targeted cache is moved, to save during pose adjustment
Between, improve shooting quality, it is necessary to carry out the pre- judgement of target motion, two cameras is quickly completed pose adjustment.It is illustrated in figure 4
Theodolite trace flow schematic diagram.The key step of theodolite track record includes：
Track camera 4 and utilize the characteristics of its visual field is big, target is caught based on characteristics of image, and pass data back host computer.
Host computer carries out the action of pose adjustment according to data two motors of calculating are caught, and action command is sent into orientation
The action data of motor is fed back to host computer by motor 3 and pitching motor 8, the encoder of electric machine built-in, realizes motor action
Closed-loop high-precision is controlled.
Camera 11 is shot with Fixed Time Interval shooting image, orientation shaft encoder 2 is shot while camera is shot and bows
Face upward shaft encoder 6 and read current location data.After the completion of data acquisition, view data and position data are uploaded.
Host computer, which is checked whether, receives END instruction, if so, then terminating to track, completing record；Otherwise, the He of camera 11 is shot
Two shaft encoders will continue with Fixed Time Interval gathered data, and host computer is by based on the current motion data prediction target of target
Next step motion, and carry out corresponding pose adjustment, tracking camera 4 catches target again, remembers hence into next secondary tracking
Record.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art is in the technical scope of present disclosure, the change or replacement that can be readily occurred in,
It should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Enclose and be defined.
Claims (5)
1. it is a kind of based on image recognition with tracking binocular high-speed, high precision theodolite, it is characterised in that including tracking camera and
Camera is shot, the tracking camera is arranged on the both sides of same pitching power transmission shaft with shooting camera, and pitching motor is pacified by bearing
On the gyroaxis of azimuth-drive motor, the pitching power transmission shaft is connected with pitching shaft encoder, the gyroaxis of the azimuth-drive motor
Orientation shaft encoder is connected with, the azimuth-drive motor is fixed on pedestal.
2. the binocular high-speed, high precision theodolite according to claim 1 based on image recognition with tracking, it is characterised in that
The tracking camera is big visual field camera, and using short-focus lens, the shooting camera is high speed camera, using telephoto lens.
3. the binocular high-speed, high precision theodolite according to claim 2 based on image recognition with tracking, it is characterised in that
The tracking camera and shoot the installation site of camera and can adjust, by adjust the installation site and increase counterweight of camera make it is described
The center of gravity of tracking camera and shooting camera is overlapped with the axis of the pitching power transmission shaft, and makes the pitching of the bearing and its support
Total barycenter of system and the revolution overlapping of axles of the azimuth-drive motor.
4. the binocular high-speed, high precision theodolite based on image recognition with tracking according to claim 1,2 or 3, its feature
Be, it is described tracking camera based on image recognition catch target position, the azimuth-drive motor and pitching motor according to described in
The result of track camera collection image adjusts the posture of two cameras, target is always positioned at the field range of the shooting camera
Interior, the shooting camera is shot with Fixed Time Interval to target, is thus completed targeted cache motion, speed and is drastically changed
Under track record.
5. the binocular high-speed, high precision theodolite according to claim 4 based on image recognition with tracking, it is characterised in that
This is included based on image recognition and the key step of the binocular high-speed, high precision theodolite track record of tracking：
Track camera and utilize the characteristics of its visual field is big, target is caught based on characteristics of image, and data are transmitted to host computer；
Host computer carries out the action of pose adjustment according to data two motors of calculating are caught, and action command is sent into azimuth-drive motor
And pitching motor, the action data of motor feeds back to host computer, realizes closing for motor action by the encoder of two electric machine built-ins
Ring high-precision control；
Camera is shot with Fixed Time Interval shooting image, orientation shaft encoder and pitch axis coding while camera is shot is shot
Device reads current location data, after the completion of data acquisition, and view data and position data are uploaded；
Host computer, which is checked whether, receives END instruction, if so, then terminating to track, completing record；Otherwise, shoot camera and two axles are compiled
Code device will continue with Fixed Time Interval gathered data, and host computer is by based on the next of the current motion data prediction target of target
Step motion, and carry out corresponding pose adjustment, tracking camera catches target again, hence into keeping track of next time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710469340.2A CN107289902A (en) | 2017-06-20 | 2017-06-20 | Binocular high-speed, high precision theodolite based on image recognition with tracking |
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| CN201710469340.2A CN107289902A (en) | 2017-06-20 | 2017-06-20 | Binocular high-speed, high precision theodolite based on image recognition with tracking |
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| CN111818256A (en) * | 2020-06-02 | 2020-10-23 | 同济大学 | Master-slave camera monitoring system and method |
| CN114738625A (en) * | 2022-04-14 | 2022-07-12 | 禄可科技集团有限公司 | Portable miniature directional shooting device using target to carry transmitter |
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Application publication date: 20171024 |
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