CN108180829A - It is a kind of that measuring method is directed toward to the object space with parallel lines feature - Google Patents
It is a kind of that measuring method is directed toward to the object space with parallel lines feature Download PDFInfo
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- CN108180829A CN108180829A CN201711462286.5A CN201711462286A CN108180829A CN 108180829 A CN108180829 A CN 108180829A CN 201711462286 A CN201711462286 A CN 201711462286A CN 108180829 A CN108180829 A CN 108180829A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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Abstract
The present invention relates to a kind of object space to parallel lines feature and is directed toward measuring method, solve the problems, such as existing measuring method must on target is measured setting cooperation index point, measuring process is complicated, measurement process is slow, measuring instrument is complicated, equipment is expensive.This method includes the following steps：1) camera is set up before the target with parallel lines feature；2) camera is imaged target；3) into image transmitting to computer, parallel line profile or parallel line index to target carry out image zooming-out for camera institute；4) coordinate system, object space straight line L are established1And L2Institute into image be straight line L1' and L2′；5) A is calculated to obtain1、B1、D1、A2、B2、D2；6) A that will be obtained1、B1、D1、A2、B2、D2And lens focus value f ' substitution calculating formulas, the object space for obtaining parallel lines feature are directed toward the statement in camera coordinates system OXYZ.
Description
Technical field
The present invention relates to field of optical measuring technologies, and in particular to a kind of that the object space with parallel lines feature is directed toward
Measuring method.
Background technology
In accurate measurement, precision instrument assembling, engineering survey, the measurement to space line vector is frequently referred to, such as
The detection of strip structure part rigging error (such as moves in the installation direction error measure of girder steel, precision instrument assembling in architectural engineering
Guide rail) etc., to this kind of direct detection with linear feature object space, two index points are usually set on straight line, are used
Space coordinate measuring instrument measures, if three-coordinates measuring machine, laser tracker, total powerstation are (as invented：It is a kind of based on total powerstation
The position and orientation scaling method of extraterrestrial target, 105424024 A of application publication number CN), two transits intersection etc. measurements system
System, system measures the three-dimensional coordinate of two index points, then is converted into linear vector directional information.
For system above, three-coordinates measuring machine detection range is small, and measured target must be limited in measuring arm scope of activities
Within, the size of measured target has limitation；Laser tracker realizes target three-dimensional coordinate measurement using the principle of interfeerometry ranging,
Reflecting target mark must be set up on index point, the laser that laser tracker is sent out must be emitted to reflecting target and put on, and be reflected back
Laser tracker, target are moved to from laser tracker in the process of index point, it is necessary to assure the auto-collimation state of target, such as
Fruit reflection target deviates from laser beam axis and will malfunction, and the light that cannot break renews, it is necessary to it begins the beguine, during this, and reflection
The step of target is set up, pH effect is complicated, and measurement process is slow；Total powerstation is to the orientation of two index points, pitch angle on straight line
Degree and distance value measure, so as to obtain the three-dimensional coordinate of index point；Two transits multi-theodolite intersection system is according to separate unit longitude and latitude
Position of the instrument between the orientation, pitch angle angle value and two transits of index point, posture relationship, by triangle intersection principle,
The three-dimensional coordinate of index point is calculated, the calibration of two transits position and posture, more than measuring method must be carried out before use
Cooperation index point must be all set on straight line, and measuring process is complicated, and measurement process is slow, measuring instrument is complicated, and equipment is expensive.
Invention content
Present invention aim to address existing measuring methods must set cooperation index point, measuring process on target is measured
It complicated, the problem of measurement process is slow, measuring instrument is complicated, equipment is expensive, provides a kind of to the target empty with parallel lines feature
Between be directed toward measuring method, this method meets a variety of application demands and the rapidity measured, convenience requirement, needle is directed toward to object space
To the target with parallel line profile or boundary characteristic, taken pictures using one camera to target, to object edge profile or mark
Will line carries out image zooming-out, passes through algorithm, you can realizes that object space is directed toward mathematics of the vector in camera three-dimensional system of coordinate and retouches
It states.
The technical scheme is that：
It is a kind of that measuring method is directed toward to the object space with parallel lines feature, include the following steps：
1) camera is set up before the target with parallel lines feature, target is single or multiple；
2) camera is imaged target；
3) into image transmitting to computer, parallel line profile or parallel line index to target carry out image and carry for camera institute
It takes, target length direction straight line is set to L1And L2, L1And L2It is parallel；
4) coordinate system is established：Using camera photocentre as coordinate origin O, detector is arranged on the optical axis away from coordinate origin rear f '
On, along imaging lens optical axis direction be Z axis, along detector horizontal edge be X-axis, vertical edge is Y-axis, on optical axis away from coordinate origin in front of
F ' places set the plane of delineation, and the plane of delineation is parallel with detector plane, and it is parallel that two dimensional image coordinate oxy, x are established on the plane of delineation
In X-axis, y is parallel to Y-axis, and o points are optical axis and the intersection point of the plane of delineation, and object point, picture point and optical center meet collinear relationship, and f ' is mirror
Head focal length, object space straight line L1And L2Institute into image be straight line L1' and L2′；
5) in plane of delineation coordinate oxy, straight line L1' and L2' plane equation expression formula be respectively：
A1x+B1y+D1=0 (1)
A2x+B2y+D2=0 (2)
By straight line L1' and L2' different x, y numerical value substitute into formula (1) and (2), calculate to obtain A1、B1、D1、A2、B2、D2；
6) A that will be obtained1、B1、D1、A2、B2、D2And lens focus value f ' substitutions formula (8), obtain the mesh of parallel lines feature
It marks space and is directed toward the statement in camera coordinates system OXYZ：
Further, the A that step 7) will obtain is further included1、B1、D1、A2、B2、D2And lens focus value f ' substitutions formula (9)
With formula (10), the statement that object space is directed toward azimuth and pitch angle form in coordinate system OXYZ is obtained, with camera coordinates system
It is orientation zero-bit in OXY planes, azimuth symbol definition is rotates to be just around Y-axis counterclockwise, then azimuth is expressed as：
Pitch angle symbol definition is is 0 in OXZ planes, downwards to be upwards negative, pitch angle is expressed as just：
Further, step 6) or step 7) processed offline or online processing in a computer.
Advantages of the present invention is：
1. the present invention without setting cooperation index point in target, without expensive three-dimensional coordinate measuring instrument device, measures system
System erection is convenient, measuring process is simple.
2. of the invention need to only set up camera before target, it is equipped with common computer and can measure, measuring apparatus is simply, just
Preferably, it is convenient to set up；In measurement process, the acquisition of progress target image and target image edge extracting, graph line equation solver,
Measurement can be completed in parameter substitution, and measuring process is convenient, and calculating process is addition subtraction multiplication and division arithmetic, extracting operation and triangle letter
Number operation calculates simple.
Description of the drawings
Fig. 1 is measuring system structure chart of the present invention；
Fig. 2 is coordinate system of the present invention definition and object-image relation figure；
Fig. 3 is double parallel line imaging schematic diagram of the present invention；
Fig. 4 for parallel lines object of the present invention, as, optical center geometrical relationship figure；
Fig. 5 is feasibility verification test DATA REASONING error curve diagram of the present invention.
Description of the drawings：1- targets, 2- cameras, 3- computers.
Specific embodiment
Technical scheme of the present invention is clearly and completely described with reference to the accompanying drawings of the specification.
The present invention is a kind of universality measuring method, the survey that the object space three-dimensional specially with parallel lines feature is directed toward
Amount, such as the girder steel with parallel edge, the measurement of sleeper, cube structure part space direction.
It is a kind of that measuring method is directed toward to the object space with parallel lines feature, include the following steps：
1) camera is set up before the target with parallel lines feature, target is single or multiple；
2) camera is imaged target；
3) into image transmitting to computer, parallel line profile or parallel line index to target carry out image and carry for camera institute
It takes, target length direction straight line is set to L1And L2, L1And L2It is parallel；
4) coordinate system is established：Using camera photocentre as coordinate origin O, detector is arranged on the optical axis away from coordinate origin rear f '
On, along imaging lens optical axis direction be Z axis, along detector horizontal edge be X-axis, vertical edge is Y-axis, on optical axis away from coordinate origin in front of
F ' places set the plane of delineation, and the plane of delineation is parallel with detector plane, and it is parallel that two dimensional image coordinate oxy, x are established on the plane of delineation
In X-axis, y is parallel to Y-axis, and o points are optical axis and the intersection point of the plane of delineation, and object point, picture point and optical center meet collinear relationship, and f ' is mirror
Head focal length, object space straight line L1And L2Institute into image be straight line L1' and L2′；
5) in plane of delineation coordinate oxy, straight line L1' and L2' plane equation expression formula be respectively：
A1x+B1y+D1=0 (1)
A2x+B2y+D2=0 (2)
By straight line L1' and L2' different x, y numerical value substitute into formula (1) and (2), calculate to obtain A1、B1、D1、A2、B2、D2；
6) A that will be obtained1、B1、D1、A2、B2、D2And lens focus value f ' substitutions formula (8), obtain the mesh of parallel lines feature
It marks space and is directed toward the statement in camera coordinates system OXYZ：
7) A that will be obtained1、B1、D1、A2、B2、D2And lens focus value f ' substitutions formula (9) and formula (10), obtain target empty
Between be directed toward in coordinate system OXYZ azimuth and pitch angle form statement, in camera coordinates system OXY planes be orientation zero-bit,
Azimuth symbol definition is rotates to be just around Y-axis counterclockwise, then azimuth is expressed as：
Pitch angle symbol definition is is 0 in OXZ planes, downwards to be upwards negative, pitch angle is expressed as just：
Above-mentioned steps 6) or step 7) processed offline or online processing in a computer.
The technical solution adopted in the present invention and measuring principle are：
As shown in Figure 1, before measured target 1 set up camera 2, decorating position ensure camera can to target into a certain size
Clear image, to the decorating position of camera without particular/special requirement, target length direction edge contour straight line is set to L1And L2,
L1And L2Parallel, camera institute is into image after the processing of computer 3, you can obtains parallel lines and is directed toward the statement in camera coordinates system.
As shown in Fig. 2, camera coordinates system OXYZ is established, using camera photocentre as coordinate origin O, away from coordinate origin on optical axis
Rear f ' locates as detector position (f ' is lens focus), is Z axis along imaging lens optical axis direction, is X-axis along detector horizontal edge,
Vertical edge is Y-axis, and OXYZ meets right-handed coordinate system, object by camera lens on the detector into inverted image, but in general, at camera electronics
During reason, it is accustomed to ensure that observed image meets human eye, the image on detector is overturn, therefore away from coordinate origin on optical axis
Front f ' places set the plane of delineation, and the plane of delineation is parallel with detector plane, to meet turning over for detector plane and the plane of delineation
Transfer the registration of Party membership, etc. from one unit to another, two dimensional image coordinate oxy, x are established on the plane of delineation and is parallel to X-axis, y is parallel to Y-axis, and o points are put down for optical axis with image
The intersection point in face, under the definition of more than coordinate system, object point, picture point and optical center meet collinear relationship as shown in Figure 2.
To the two or more pieces parallel lines of object space, this sentences two parallel lines and illustrates, a plurality of collimation principle class
Seemingly, by camera imaging principle it is found that as straight line is the intersection of two planes on the plane of delineation, a plane is straight in object space
Line, optical center O formed planes, another plane is the plane of delineation, specifically as shown in figure 3, object space straight line L1And L2Institute into image is
L1' and L2', L1、L1', O it is coplanar, L2、L2', O it is coplanar, image geometrical relationship is summarised as：Plane L1O and plane L2O intersects, and O points exist
On intersection, L1' in plane L1On O, L2' in plane L2On O.
In Fig. 4, object space parallel lines L is described1With optical center formed plane and L2Intersection, object with optical center formed plane
Straight line, as the geometrical relationship between straight line.Easily prove：On two intersecting planes, if there are two straight line parallels, this two
Straight line must be parallel to the intersection of two planes, due to L1And L2For the parallel lines of object space, direction vector is identical, is set asL1O and L2The intersection direction vector of O planes is alsoPlane L1O and plane L1' O be same plane, plane
L2O and plane L2' O is same plane, therefore passes through picture straight line L in image1' and L2' and optical center O, intersection can be acquired, you can ask
Obtain parallel lines L1And L2Direction vector
Specific mathematical derivation is as follows：
By image procossing and object edge contours extract, in image coordinate system oxy, L1' and L2' plane equation table
It is respectively up to formula：
A1x+B1y+D1=0 (1)
A2x+B2y+D2=0 (2)
Then its space line equation under camera coordinates system is respectively：
Solve straight line L1The plane determined with optical center, establishes Planes Equation, there is A1X+B1Y+D1+ L (Z-f')=0 is substituted into
Optical center coordinate (0,0,0), solvesThen the plane equation is：
Similarly, straight line L2The plane equation determined with optical center is：
Then plane intersection line equation is：
According to formula (7), acquiring intersection direction vector is：
This is also L1And L2The expression formula of rectilinear direction vector so far, has solved the object space with parallel lines feature
It is directed toward the statement in camera coordinates system.
In optical measurement, vector is often expressed as azimuth and pitch angle, in camera coordinates system OXY planes for orientation
Zero-bit, then azimuth can be expressed as：
Azimuth symbol definition is rotates to be just around Y-axis counterclockwise；
Pitch angle can be expressed as：
Pitch angle symbol definition is is 0 in OXZ planes, downwards to be upwards negative just；Formula (9) and formula (10) are flat
The azimuth and pitch angle statement that line is directed toward.
For the feasibility of the verification present invention, Proof-Of Principle platform is built, has designed and machined aluminum alloy cross beam, length side
It is parallel to each other to 4 crest lines, crossbeam is fixed on multiteeth indexing table.Multiteeth indexing table outer corner measurement precision can reach 0.1 ",
Angle true value can be used as, multiteeth indexing table is rotated by 5 ° of intervals, according to implementation steps of the present invention, set up before verification platform
Camera, the corresponding each angle position of multiteeth indexing table, measures target pointing direction vector, is denoted asTurntable angle is denoted asThe angle value and target of multiteeth indexing table during measuring for the first time
Pointing direction vector is zero reference, the correctness of measuring method of the present invention is verified with relative error, as long as not occurring coarse
Error then illustrates that measuring method of the present invention is effective.
The angle that ith target pointing direction vector is directed toward vector with target zero-bit is calculated by formula (11)：
The true value of multiteeth indexing table is calculated by formula (12)：
Compare measured value ωiWith true value χi, the difference between the two is as error：
Δi=ωi-χi (12)
Measurement result is as shown in table 1,
1 test data of table
| Serial number | ωi(°) | χi(°) | Δi(°) |
| 1 | 5.0012 | 5 | 0.0012 |
| 2 | 10.0018 | 10 | 0.0018 |
| 3 | 15.0027 | 15 | 0.0027 |
| 4 | 20.0019 | 20 | 0.0019 |
| 5 | 25.0039 | 25 | 0.0039 |
| 6 | 30.0082 | 30 | 0.0082 |
| 7 | 35.0120 | 35 | 0.0120 |
| 8 | 40.0231 | 40 | 0.0231 |
| 9 | 45.0192 | 45 | 0.0192 |
| 10 | 50.0252 | 50 | 0.0252 |
| 11 | 55.0202 | 55 | 0.0202 |
| 12 | 60.0234 | 60 | 0.0234 |
| 13 | 65.0252 | 65 | 0.0252 |
| 14 | 70.0175 | 70 | 0.0175 |
| 15 | 75.0233 | 75 | 0.0233 |
| 16 | 80.0302 | 80 | 0.0302 |
| 17 | 85.0295 | 85 | 0.0295 |
| 18 | 90.0258 | 90 | 0.0258 |
As shown in figure 5, it can be seen from the figure that in the range of 0~90 °, the method for the present invention measures to be missed Curve of the Measuring Error
For difference within 0.03 °, no gross error or wrong data illustrate that the method for the present invention is feasible.
Claims (3)
1. a kind of be directed toward measuring method to the object space with parallel lines feature, which is characterized in that includes the following steps：
1) camera is set up before the target with parallel lines feature, target is single or multiple；
2) camera is imaged target；
3) into image transmitting to computer, parallel line profile or parallel line index to target carry out image zooming-out, mesh for camera institute
Mark length direction straight line is set to L1And L2, L1And L2It is parallel；
4) coordinate system is established：Using camera photocentre as coordinate origin O, detector is arranged on the optical axis away from coordinate origin rear f ',
It is Z axis along imaging lens optical axis direction, is X-axis along detector horizontal edge, vertical edge is Y-axis, away from f ' in front of coordinate origin on optical axis
Place's setting plane of delineation, the plane of delineation is parallel with detector plane, and two dimensional image coordinate oxy is established on the plane of delineation, and x is parallel to
X-axis, y are parallel to Y-axis, and o points are optical axis and the intersection point of the plane of delineation, and object point, picture point and optical center meet collinear relationship, and f ' is camera lens
Focal length, object space straight line L1And L2Institute into image be straight line L1' and L2′；
5) in plane of delineation coordinate oxy, straight line L1' and L2' plane equation expression formula be respectively：
A1x+B1y+D1=0 (1)
A2x+B2y+D2=0 (2)
By straight line L1' and L2' different x, y numerical value substitute into formula (1) and (2), calculate to obtain A1、B1、D1、A2、B2、D2；
6) A that will be obtained1、B1、D1、A2、B2、D2And lens focus value f ' substitutions formula (8), obtain the target empty of parallel lines feature
Between be directed toward statement in camera coordinates system OXYZ：
2. according to claim 1 be directed toward measuring method to the object space with parallel lines feature, it is characterised in that：Also
The A that will be obtained including step 7)1、B1、D1、A2、B2、D2And lens focus value f ' substitutions formula (9) and formula (10), obtain target empty
Between be directed toward in coordinate system OXYZ azimuth and pitch angle form statement, in camera coordinates system OXY planes be orientation zero-bit,
Azimuth symbol definition is rotates to be just around Y-axis counterclockwise, then azimuth is expressed as：
Pitch angle symbol definition is is 0 in OXZ planes, downwards to be upwards negative, pitch angle is expressed as just：
3. according to claim 1 or 2 be directed toward measuring method to the object space with parallel lines feature, feature exists
In：Step 6) or step 7) processed offline or online processing in a computer.
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| CN110470239A (en) * | 2019-08-07 | 2019-11-19 | 上海交通大学 | A kind of laser profile sensor calibration system and method based on crosspoint |
| CN112504595A (en) * | 2020-10-27 | 2021-03-16 | 北京控制工程研究所 | Micro-vibration influence measuring device and method for space-oriented measuring instrument |
| CN113790689A (en) * | 2021-11-18 | 2021-12-14 | 深圳市中图仪器股份有限公司 | Calibration method of space coordinate measuring instrument |
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