CN108180829B - It is a kind of that measurement method is directed toward to the object space with parallel lines feature - Google Patents
It is a kind of that measurement method is directed toward to the object space with parallel lines feature Download PDFInfo
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- CN108180829B CN108180829B CN201711462286.5A CN201711462286A CN108180829B CN 108180829 B CN108180829 B CN 108180829B CN 201711462286 A CN201711462286 A CN 201711462286A CN 108180829 B CN108180829 B CN 108180829B
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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 measurement method, solve the problems, such as existing measurement method must in measurement target setting cooperation index point, measuring process is complicated, measurement process is slow, measuring instrument is complicated, equipment is expensive.Method includes the following steps: 1) set up camera before the target with parallel lines feature；2) target is imaged in camera；3) at 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 is straight line L at image1' 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 formula, 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 to be directed toward to the object space with parallel lines feature
Measurement method.
Background technique
In accurate measurement, precision instrument assembly, engineering survey, the measurement to space line vector is frequently referred to, such as
The installation direction error measure of girder steel in architectural engineering, in precision instrument assembly the detection of strip structure part rigging error (as moved
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 measurement, as three-coordinates measuring machine, laser tracker, total station (as invent: it is a kind of based on total station
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 measurement 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 issues must be emitted to reflecting target and put on, and be reflected back
Laser tracker, target are moved in the process of index point from laser tracker, 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 erection, pH effect, is complicated, and measurement process is slow；Total station is to the orientation of two index points, pitch angle on straight line
Degree and distance value measure, to obtain the three-dimensional coordinate of index point；Two transits multi-theodolite intersection system is according to separate unit longitude and latitude
Instrument is to the position between the orientation, pitch angle angle value and two transits of index point, posture relationship, by triangle intersection principle,
The three-dimensional coordinate for calculating index point is using the preceding calibration that must carry out two transits position and posture, the above measurement method
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.
Summary of the invention
Present invention aim to address existing measurement methods setting to cooperate index point, measuring process in measurement target
Problem complicated, 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 measurement method, this method meets rapidity, the convenience requirement that a variety of application demands are directed toward measurement to object space, needle
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, by algorithm, mathematics of the object space direction vector in camera three-dimensional system of coordinate can be realized and retouch
It states.
The technical scheme is that
It is a kind of that measurement method is directed toward to the object space with parallel lines feature, comprising the following steps:
1) camera is set up before the target with parallel lines feature, target is single or multiple；
2) target is imaged in camera；
3) at image transmitting to computer, parallel line profile or parallel line index to target carry out image and mention for camera institute
It takes, target length direction straight line is set to L1And L2, L1And L2In parallel；
4) establish coordinate system: using camera photocentre as coordinate origin O, the optical axis away from coordinate origin rear f ' is arranged in detector
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
The plane of delineation is arranged in the place f ', 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 point is the intersection point of optical axis and 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 is straight line L at image1' and L2′；
5) in plane of delineation coordinate oxy, straight line L1' and L2' plane equation expression formula be respectively as follows:
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 ' substitution formula (8), obtain the mesh of parallel lines feature
It marks space and is directed toward the statement in camera coordinates system OXYZ:
Further, further include A that step 7) will obtain1、B1、D1、A2、B2、D2And lens focus value f ' substitution 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 plane, azimuth symbol definition is to rotate to be positive counterclockwise around Y-axis, then azimuth is stated are as follows:
It is 0 that pitch angle symbol definition, which is in OXZ plane, is positive downwards, is negative upwards, pitch angle statement are as follows:
Further, step 6) or step 7) processed offline or online processing in a computer.
Advantages of the present invention are as follows:
1. the present invention is without the setting cooperation index point in target, without expensive three-dimensional coordinate measuring instrument device, measurement system
System erection is convenient, measuring process is simple.
2. of the invention need to only set up camera before target, being equipped with common computer be can measure, and measuring device 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.
Detailed description of the invention
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 is 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.
Detailed description of the invention: 1- target, 2- camera, 3- computer.
Specific embodiment
Technical solution 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 measurement method, the survey of the object space three-dimensional direction specially with parallel lines feature
Amount, such as the measurement of the girder steel with parallel edge, sleeper, cube structure part space direction.
It is a kind of that measurement method is directed toward to the object space with parallel lines feature, comprising the following steps:
1) camera is set up before the target with parallel lines feature, target is single or multiple；
2) target is imaged in camera；
3) at image transmitting to computer, parallel line profile or parallel line index to target carry out image and mention for camera institute
It takes, target length direction straight line is set to L1And L2, L1And L2In parallel；
4) establish coordinate system: using camera photocentre as coordinate origin O, the optical axis away from coordinate origin rear f ' is arranged in detector
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
The plane of delineation is arranged in the place f ', 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 point is the intersection point of optical axis and 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 is straight line L at image1' and L2′；
5) in plane of delineation coordinate oxy, straight line L1' and L2' plane equation expression formula be respectively as follows:
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 ' substitution 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 ' substitution 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 plane be orientation zero-bit,
Azimuth symbol definition is to rotate to be positive counterclockwise around Y-axis, then azimuth is stated are as follows:
It is 0 that pitch angle symbol definition, which is in OXZ plane, is positive downwards, is negative upwards, pitch angle statement are as follows:
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, setting up camera 2 before measured target 1, decorating position guarantees that camera can be to target at 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 L2In parallel, camera institute can be obtained parallel lines and be directed toward the statement in camera coordinates system at image after the processing of computer 3.
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, and object passes through camera lens on the detector at inverted image, but in general, at camera electronics
When reason, to guarantee that observed image meets human eye habit, the image on detector is overturn, therefore away from coordinate origin on optical axis
The plane of delineation is arranged in the front place f ', 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 is established on the plane of delineation, x is parallel to X-axis, and y is parallel to Y-axis, and o point is that optical axis and image are flat
The intersection point in face, under the definition of the above 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 is illustrated, a plurality of collimation principle class
Seemingly, by camera imaging principle it is found that one plane is straight in object space as the intersection that straight line is two planes on the plane of delineation
Line, optical center O formed plane, another plane is the plane of delineation, specifically as shown in figure 3, object space straight line L1And L2Institute at image is
L1' and L2', L1、L1', O it is coplanar, L2、L2', O it is coplanar, image geometrical relationship summarize are as follows: plane L1O and plane L2O intersection, O point 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.Be easy to show that on two intersecting planes, if it exists two straight line parallels, then 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 plane is alsoPlane L1O and plane L1' O is 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, Ji Keqiu can be acquired
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 as follows: up to formula
A1x+B1y+D1=0 (1)
A2x+B2y+D2=0 (2)
Then its space line equation under camera coordinates system is respectively as follows:
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), solvesThe then plane equation are as follows:
Similarly, straight line L2The plane equation determined with optical center are as follows:
Then plane intersection line equation are as follows:
According to formula (7), intersection direction vector is acquired are as follows:
This is also L1And L2The expression formula of rectilinear direction vector has so far 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 plane for orientation
Zero-bit, then azimuth can state are as follows:
Azimuth symbol definition is to rotate to be positive counterclockwise around Y-axis；
Pitch angle can state are as follows:
It is 0 that pitch angle symbol definition, which is in OXZ plane, is positive downwards, is negative upwards；Formula (9) and formula (10) are flat
The azimuth and pitch angle statement that line is directed toward.
To verify feasibility of the invention, Proof-Of Principle platform is built, aluminum alloy cross beam, length side are designed and machined
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 ",
It can be used as angle true value, multiteeth indexing table is rotated by 5 ° of intervals, according to the implementation steps of the 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 mesh of multiteeth indexing table when measuring for the first time
Mark pointing direction vector is zero reference, and the correctness of measurement method of the present invention is verified with relative error, as long as not occurring thick
Big error then illustrates that measurement method of the present invention is effective.
The angle that i-th 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 within the scope of 0~90 °, the method for the present invention measurement misses 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 measurement method to the object space with parallel lines feature, which comprises the following steps:
1) camera is set up before the target with parallel lines feature, target is single or multiple；
2) target is imaged in camera；
3) at 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 L2In parallel；
4) establish coordinate system: 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 point is the intersection point of optical axis and 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 is straight line L at image1' and L2′；
5) in plane of delineation coordinate oxy, straight line L1' and L2' plane equation expression formula be respectively as follows:
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 ' substitution 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 measurement 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 ' substitution 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 plane be orientation zero-bit,
Azimuth symbol definition is to rotate to be positive counterclockwise around Y-axis, then azimuth is stated are as follows:
It is 0 that pitch angle symbol definition, which is in OXZ plane, is positive downwards, is negative upwards, pitch angle statement are as follows:
3. according to claim 2 be directed toward measurement method to the object space with parallel lines feature, it is characterised in that: step
It is rapid 6) or step 7) processed offline or online processing in a computer.
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| CN110470239B (en) * | 2019-08-07 | 2021-05-18 | 上海交通大学 | Laser profile sensor calibration system and method based on intersection point |
| CN112504595B (en) * | 2020-10-27 | 2022-07-05 | 北京控制工程研究所 | Micro-vibration influence measuring device and method for space-oriented measuring instrument |
| CN114396901A (en) * | 2021-11-18 | 2022-04-26 | 深圳市中图仪器股份有限公司 | Space coordinate measuring instrument |
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