CN110426020A - A kind of portable landform Digital Photogrammetric System and its measurement method - Google Patents
A kind of portable landform Digital Photogrammetric System and its measurement method Download PDFInfo
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- CN110426020A CN110426020A CN201910770781.5A CN201910770781A CN110426020A CN 110426020 A CN110426020 A CN 110426020A CN 201910770781 A CN201910770781 A CN 201910770781A CN 110426020 A CN110426020 A CN 110426020A
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- 238000000691 measurement method Methods 0.000 title claims abstract description 8
- 238000004891 communication Methods 0.000 claims abstract description 11
- 229910000838 Al alloy Inorganic materials 0.000 claims description 10
- 230000005484 gravity Effects 0.000 claims description 6
- 230000003287 optical effect Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract description 4
- 238000005259 measurement Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 11
- 230000005540 biological transmission Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
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- 238000012360 testing method Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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Abstract
The present invention relates to topographic survey technical field, providing a kind of portable landform Digital Photogrammetric System and its measurement method, field observation measuring system includes portable support frame, photographing module and handheld terminal；Portable support frame includes that the vertical rack of interconnection holds bracket with outstanding；Outstanding to hold one end installation photographing module of the bracket far from vertical rack, the camera lens of photographing module is arranged downward, photographing module communication connection handheld terminal；It is field observation simple in measurement system structure shown in the present invention, low in cost, for the shooting of man-hour manually hand-held camera, coverage is greatly improved, photographing module can be manipulated by handheld terminal, it very easily obtains a large amount of low latitude and faces terrain graph, to which shooting efficiency is also effectively ensured, and the terrain graph to be measured with higher Duplication, the fine DEM of Centimeter Level convenient for obtaining landform to be measured in subsequent image is handled can be shot.
Description
Technical field
The present invention relates to topographic survey technical field more particularly to a kind of portable landform Digital Photogrammetric System and its measurements
Method.
Background technique
The quick fining dynamic monitoring of landform is of great significance to understanding basin topography change procedure and reason.Photography
Measuring technique interacts compiling by the part overlapped to several photographic images, the final digital elevation mould for obtaining landform
Type (DEM, Digital Elevation Model), can be appreciated that the spatial distribution characteristic of landform shape by landform DEM.
Ground or aerial image modeling based on same surface are the important directions of photogrammetry, wherein semi-automatic
The multiple view stereoscopic operation stream of structure gradually develops and is integrated in photogrammetric software, as Agisoft is developed
Photoscan software.In view of its low cost and flexible property, this method is applied to fine landform acquisition side more and more
The research in face.
Currently, mainly including being built using the aerial image that unmanned plane combines based on the photogrammetric method for obtaining fine landform
Mould method and the ground image modeling method based on handheld camera shooting image.For unmanned plane measurement method, firstly, since nothing
Man-machine higher cost is just penetrating shooting terrain graph at low latitude (2-3m) using unmanned plane, and there are the higher problems of economic cost；Its
It is secondary, it is difficult to ensure the stability of unmanned plane taking lens in the sky, thus, unmanned plane is mainly used in higher on a large scale at present
The features of terrain of precision obtains, it is more difficult to obtain the fine features of terrain of near surface Centimeter Level.However, shooting image for handheld camera
Ground image modeling method, due to shooting personnel height limitation, large range of orthograph picture can not be obtained, and also deposit
In the not high problem of shooting efficiency.
It can be seen that currently when obtaining low latitude and facing terrain graph, exist the at high cost or coverage of shooting it is limited and
The not high problem of shooting efficiency, and it is difficult to the fine DEM of Centimeter Level that landform to be measured is further obtained by captured image,
This is currently to answer technical problem urgently to be solved.
Summary of the invention
(1) technical problems to be solved
An object of the present invention is to provide a kind of portable landform Digital Photogrammetric System, currently low in acquisition to solve
When sky faces terrain graph, there is a problem of that shooting is at high cost or coverage is limited and shooting efficiency is not high.
The second object of the present invention is to provide a kind of measurement method based on above-mentioned portable landform Digital Photogrammetric System, with
The terrain graph to be measured with higher Duplication is shot, and convenient for obtaining the Centimeter Level of landform to be measured in subsequent image processing
Fine DEM.
(2) technical solution
In order to solve the above-mentioned technical problem, the present invention provides a kind of portable landform Digital Photogrammetric System on the one hand,
Including portable support frame, photographing module and handheld terminal；
The portable support frame includes that the vertical rack of interconnection holds bracket with outstanding；
Wherein, described outstanding to hold bracket the photographing module, the photographing module are installed far from one end of the vertical rack
Camera lens arrange downward, handheld terminal described in the photographing module communication connection.
Preferably, heretofore described the first wireless transport module of photographing module communication connection, the handheld terminal communication
The second wireless transport module, first wireless transport module and second wireless transport module is connected to connect by wireless telecommunications
It connects.
Preferably, heretofore described first wireless transport module and second wireless transport module are same type
Module, including any one in WIFI module, bluetooth module, zigbee module, 3G module, 4G module.
Preferably, heretofore described first wireless transport module is integrated on the photographing module, and described second is wireless
Transmission module is integrated on the handheld terminal；
The photographing module is fixed-focus camera, and the handheld terminal is touch screen controller or tablet computer.
Preferably, heretofore described outstanding bracket of holding is in horizontally disposed, described in described outstanding one end for holding bracket vertically connects
The upper end of vertical rack, the outstanding other end for holding bracket install the photographing module；Where the camera lens of the photographing module
Optical axis is arranged vertically.
Preferably, the lower end of heretofore described vertical rack connects balance bracket；
Braces hanged over tow shoulders is installed towards the one side of the photographing module on the balance bracket；
The center of gravity of the balance bracket and the outstanding center of gravity for holding bracket are located relatively at the two sides of the vertical rack.
Preferably, heretofore described vertical rack and it is described it is outstanding to hold bracket be adjustable support, by least two aluminium
Compo pipe passes sequentially through screw thread and is connected in sequence；
It further include tilt stand, one end of the tilt stand connects vertical rack, and described hang of other end connection holds bracket.
Preferably, heretofore described balance bracket includes five face cone structures being welded by aluminium-alloy pipe, described
The bottom surface of balance bracket is trapezoidal, and the one side of the balance bracket towards the photographing module is triangular in shape, and erects with described
Straight bracket is coplanar.
Preferably, the total height of heretofore described balance bracket and the vertical rack is 2~3m, and described hang holds bracket
Length be 1~2m.
Preferably, the present invention additionally provides the measurement side based on above-mentioned portable landform Digital Photogrammetric System on the other hand
Method, comprising:
S1 lays at least three targets around landform to be measured, measures the absolute position of each target；
S2 observes pre- shooting image shown in handheld terminal, and after determining that image is shown as landform to be measured, control is taken the photograph
As module is shot；
S3, follow shot position are treated geodetic shape and are repeatedly shot, it is ensured that and every image includes at least three targets,
And the image Duplication of any two shootings is at least up to 70%；
The image of shooting is converted into point cloud data, and generates the DEM of landform to be measured by S4.
(3) technical effect
Portable landform Digital Photogrammetric System provided by the invention is pacified on portable support frame that is hand-held convenient for human body or carrying
It fills photographing module, is held on bracket since photographing module is mounted on to hang, and camera lens is arranged downward, then it, can when carrying out landform shooting
The automatic artificial shooting height for adjusting photographing module, and the picture facing shooting, shooting is carried out to the landform on front side of human body
Synchronous transfer is to handheld terminal, so that operator is observed, and operator can also be realized by handheld terminal to taking the photograph
As the shooting of module controls.The configuration of the present invention is simple, low in cost as a result, for the shooting of man-hour manually hand-held camera, shooting
Range is greatly improved, and can be manipulated photographing module by handheld terminal, very easily be obtained a large amount of low latitude and face ground
Shape image, so that shooting efficiency is also effectively ensured.
Measurement method provided by the invention based on above-mentioned portable landform Digital Photogrammetric System, by observe it is to be measured
It is shot again after landform, and treats geodetic shape and repeatedly shot, it is ensured that the image Duplication of any two shootings is at least up to
To 70%, this is conducive to shoot the terrain graph to be measured with higher Duplication, and convenient for obtaining in subsequent image processing
The fine DEM of the Centimeter Level of landform to be measured.
Detailed description of the invention
In order to illustrate more clearly of the embodiment of the present invention or technical solution in the prior art, below will to embodiment or
Attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the structural schematic diagram of portable landform Digital Photogrammetric System shown in the embodiment of the present invention；
Fig. 2 is the structural block diagram that photographing module shown in the embodiment of the present invention and handheld terminal mutually communicate；
Fig. 3 is the flow chart of the measurement method based on portable landform Digital Photogrammetric System shown in the embodiment of the present invention.
In figure: 1- photographing module, 2- handheld terminal, 3- vertical rack, 4-, which hangs, holds bracket, the first wireless transport module of 5-,
The second wireless transport module of 6-, 7- balance bracket, 8- Braces hanged over tow shoulders, 9- tilt stand.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Referring to Fig. 1, a kind of portable landform Digital Photogrammetric System, including portable support frame, camera shooting mould are present embodiments provided
Block 1 and handheld terminal 2；Portable support frame includes that the vertical rack 3 of interconnection holds bracket 4 with outstanding；Outstanding bracket 4 of holding is far from vertical branch
Photographing module 1 is installed in one end of frame 3, and the camera lens of photographing module 1 is arranged downward, 1 communication connection handheld terminal 2 of photographing module.
Wherein, module of the photographing module 1 using built-in camera known in the field, the photograph that photographing module 1 takes
Piece can by way of wired or wireless transmission communication connection handheld terminal 2, so that operator is observed, and operator
Member can also realize the control to the shooting operation of photographing module 1 by handheld terminal 2.
Structure as shown in Figure 1 is it is found that the present embodiment installs camera shooting on portable support frame that is hand-held convenient for human body or carrying
Module 1 is held on bracket 4 since photographing module 1 is mounted on to hang, and camera lens is arranged downward, then, can be automatic when carrying out landform shooting
The artificial shooting height for adjusting photographing module 1, and face shooting to the landform on front side of human body, whole system structure simply,
Low in cost, for the shooting of man-hour manually hand-held camera, coverage is greatly improved, and can be grasped by handheld terminal 2
Photographing module 1 is controlled, a large amount of low latitude is very easily obtained and faces terrain graph, so that shooting efficiency is also effectively ensured.
Further, referring to fig. 2,1 the first wireless transport module of communication connection 5 of photographing module in the present embodiment is held eventually
2 the second wireless transport modules of communication connection 6 are held, the first wireless transport module 5 and the second wireless transport module 6 pass through wireless telecommunications
Connection.
Specifically, in actual use, shooting low latitude by photographing module 1 and facing terrain graph, the first wireless transport module 5
Photo captured by acquisition photographing module 1 in real time, and the second wireless transport module 6 by being wirelessly connected with it, photo is passed
Handheld terminal 2 is transported to, to shoot the photo of personnel's simultaneous observation captured in real-time, institute is public in the mountable this field of handheld terminal 2
The DSLR Remote Pro Multi-Camera software known, operator can observe in real time camera shooting mould especially by the software
The image that block 1 is currently shot in advance, and suitable shooting angle and position are found by mobile, then pass through control photographing module 1
It takes pictures, to obtain required terrain graph.
Further, in the present embodiment the first wireless transport module 5 and the second wireless transport module 6 be same type mould
Block, including any one in WIFI module, bluetooth module, zigbee module, 3G module, 4G module.
Specifically, it is understood that the first wireless transport module 5 and the second wireless transport module 6 need to use this field simultaneously
Any one in known WIFI module, bluetooth module, zigbee module, 3G module or 4G module, so as to shooting
Photo wireless transmission.
Further, the first wireless transport module 5 is integrated on photographing module 1 in the present embodiment, the second wireless transmission mould
Block 6 is integrated on handheld terminal 2；Photographing module 1 is fixed-focus camera, and handheld terminal 2 is touch screen controller, handheld terminal 2
It can be tablet computer.
As a result, by the Integration Design of correlation module, the installation and corresponding operation to relevant device are greatly facilitated,
For example, in actual use, the focusing list for being mounted directly current known included bluetooth or WIFI module on bracket 4 can be held hanging
Reverse phase machine, to carry out landform shooting, and operator need to only hold the touch screen controller or flat of included bluetooth or WIFI module
Plate computer, to control corresponding shooting operation, the photo for focusing slr camera shooting can be transmitted to touch screen control automatically
Device or tablet computer, it is operationally simple, convenient in this way.
Further, it is hanged in the present embodiment and holds bracket 4 in horizontally disposed, outstanding one end for holding bracket 4 vertically connect props up vertically
The upper end of frame 3, the outstanding other end installation photographing module 1 for holding bracket 4；Optical axis where the camera lens of photographing module 1 is arranged vertically.
Specifically, vertical rack 3 holds the perpendicular arrangement of bracket 4 with outstanding referring to Fig. 1, vertical rack 3 is held in operator
Or when wearing vertical rack 3, hangs and holds the front side that the one end for being equipped with photographing module 1 on bracket 4 is placed exactly in human body,
And by the lens design of photographing module 1 be the structure arranged downwards, photographing module 1 is easily facilitated to the landform on front side of human body
It carries out facing shooting.
Further, the lower end of vertical rack 3 connects balance bracket 7 in the present embodiment；Towards camera shooting mould on balance bracket 7
The one side of block 1 is equipped with Braces hanged over tow shoulders 8；The center of gravity of balance bracket 7 and the outstanding center of gravity for holding bracket 4 are located relatively at vertical rack 3
Two sides.
Specifically, referring to Fig. 1, operator can directly by wearing Braces hanged over tow shoulders 8, by balance bracket 7 and it is corresponding just
Bracket is taken to wear, and by setting balance bracket 7, the harmony of stress when ensuring operator's wearing significantly, from
And it facilitates and preferably carries out landform shooting operation outdoor.
Further, in the present embodiment vertical rack 3 and it is outstanding to hold bracket 4 be adjustable support, closed by least two aluminium
Golden pipe passes sequentially through screw thread and is connected in sequence, wherein vertical rack 3 and outstanding hold bracket 4 and passes through silk by two aluminium-alloy pipes
Button is formed by connecting.
In addition, the present embodiment further includes tilt stand in order to ensure vertical rack 3 and the outstanding stability holding bracket 4 and connecting
9, one end of tilt stand 9 connects vertical rack 3, and the other end connection of tilt stand 9 is outstanding to hold bracket 4, and tilt stand 9
Aluminium-alloy pipe can be used.
Further, balance bracket 7 includes five face cone structures being welded by aluminium-alloy pipe in the present embodiment, balance
The bottom surface of bracket 7 is trapezoidal, and the one side of balance bracket 7 towards photographing module 1 is triangular in shape, and coplanar with vertical rack 3.
Specifically, being designed by the structure to balance bracket 7 referring to Fig. 1, not influencing the wearing of operator and ensuring
When wearing personnel dress while stress equalization, wearing personnel are also ensured after wearing, and vertical rack 3 is arranged vertically, and is hanged
Bracket 4 is held in horizontally disposed, so that photographing module 1 carries out the landform on front side of human body to face shooting.
Further, the total height of balance bracket 7 and vertical rack 3 is 2~3m, the outstanding length for holding bracket 4 in the present embodiment
Degree is 1~2m.
Specifically, in specific design, a height of 1.3m of balance bracket 7, vertical rack 3 is by 0.7m and 1.0m referring to Fig. 1
Two aluminium-alloy pipes formed by screwed connection, it is outstanding to hold bracket 4 and also pass through screw thread by two aluminium-alloy pipes of 0.7m and 1.0m
It is formed by connecting, and 0.98m or 1.12m aluminium-alloy pipe can be used in tilt stand 9, one end of the aluminium-alloy pipe connects vertical rack
3, other end connection is outstanding to hold bracket 4.
Further, referring to Fig. 3, the present embodiment additionally provides a kind of survey based on above-mentioned portable landform Digital Photogrammetric System
Amount method, comprising:
S1 lays multiple targets (at least three) around landform to be measured, and measure the absolute position of each target to get
To the horizontal and vertical distance between every two target, position of the landform to be measured in geographic coordinate system is obtained if necessary, also
Need to be measured the absolute latitude and longitude coordinates of each target with high-precision difference GPS；
S2 observes pre- shooting image shown in handheld terminal, and after determining that image is shown as landform to be measured, control is taken the photograph
As module is shot；
S3, follow shot position are treated geodetic shape and are repeatedly shot, it is ensured that and every image includes at least three target, and
The image Duplication of any two shootings is at least up to 70%；
The image of shooting is imported the processing softwares such as Agisoft, obtains point cloud data, generate centimetre of landform to be measured by S4
The fine DEM of grade.
Specifically, landform to be measured includes target, object under test etc., usually by installing in handheld terminal 2 in actual photographed
DSLR Remote Pro Multi-Camera software determining image to observe the currently image that shoots in advance of photographing module 1
After being shown as landform to be measured, then controls photographing module 1 and shot；When carrying out shooting next time, only it need to shoot personnel's itself
The mobile variation to control the camera site of photographing module 1；For everywhere landform to be measured, at least about landform to be measured shooting 3
Images above is opened, and ensures that the image Duplication of any two shootings are at least up to 70%, there is higher Duplication to shoot
Terrain graph to be measured, import computer in the photo that will store in handheld terminal 2 in this way, and utilize the processing softwares such as Agisoft
When being analyzed, convenient for obtaining point cloud data, and the fine DEM of Centimeter Level for further generating landform to be measured.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of portable landform Digital Photogrammetric System, which is characterized in that
Including portable support frame, photographing module and handheld terminal；
The portable support frame includes that the vertical rack of interconnection holds bracket with outstanding；
Wherein, described outstanding to hold bracket the photographing module, the mirror of the photographing module are installed far from one end of the vertical rack
It arranges upside down, handheld terminal described in the photographing module communication connection.
2. portable landform Digital Photogrammetric System according to claim 1, which is characterized in that
First wireless transport module of photographing module communication connection, the handheld terminal communication connection second are wirelessly transferred mould
Block, first wireless transport module are connect with second wireless transport module by wireless telecommunications.
3. portable landform Digital Photogrammetric System according to claim 2, which is characterized in that
First wireless transport module and second wireless transport module are the module of same type, including WIFI module,
Bluetooth module, zigbee module, 3G module, any one in 4G module.
4. portable landform Digital Photogrammetric System according to claim 2, which is characterized in that
First wireless transport module is integrated on the photographing module, and second wireless transport module is integrated in the hand
It holds in terminal；
The photographing module is fixed-focus camera, and the handheld terminal is touch screen controller or tablet computer.
5. portable landform Digital Photogrammetric System according to claim 1, which is characterized in that
For the outstanding bracket of holding in horizontally disposed, described outstanding one end for holding bracket vertically connects the upper end of the vertical rack, described
The outstanding other end for holding bracket installs the photographing module；
Optical axis where the camera lens of the photographing module is arranged vertically.
6. portable landform Digital Photogrammetric System according to claim 5, which is characterized in that
The lower end of the vertical rack connects balance bracket；
Braces hanged over tow shoulders is installed towards the one side of the photographing module on the balance bracket；
The center of gravity of the balance bracket and the outstanding center of gravity for holding bracket are located relatively at the two sides of the vertical rack.
7. portable landform Digital Photogrammetric System according to claim 6, which is characterized in that
The vertical rack and it is described it is outstanding to hold bracket be adjustable support, by least two aluminium-alloy pipes pass sequentially through screw thread according to
It is secondary to be formed by connecting；
It further include tilt stand, one end of the tilt stand connects the vertical rack, and described hang of other end connection holds bracket.
8. portable landform Digital Photogrammetric System according to claim 7, which is characterized in that
The balance bracket includes five face cone structures being welded by aluminium-alloy pipe, and the bottom surface of the balance bracket is in ladder
The one side of shape, the balance bracket towards the photographing module is triangular in shape, and coplanar with the vertical rack.
9. portable landform Digital Photogrammetric System according to claim 8, which is characterized in that
The total height of the balance bracket and the vertical rack is 2~3m, and the outstanding length for holding bracket is 1~2m.
10. a kind of measurement method based on portable landform Digital Photogrammetric System described in any one of claim 1-9,
It is characterized in that, comprising:
S1 lays at least three targets around landform to be measured, measures the absolute position of each target；
S2 observes pre- shooting image shown in handheld terminal, after determining that image is shown as landform to be measured, control camera shooting mould
Block is shot；
S3, follow shot position are treated geodetic shape and are repeatedly shot, it is ensured that every image includes at least three targets, and is appointed
The image Duplication shot of anticipating two is at least up to 70%；
The image of shooting is converted into point cloud data, and generates the DEM of landform to be measured by S4.
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| CN109738440A (en) * | 2019-01-03 | 2019-05-10 | 武汉大学 | A kind of ORIENTATION OF DISCONTINUITY IN ROCK MASS non-contact measurement method based on smart phone |
| CN110049212A (en) * | 2019-03-18 | 2019-07-23 | 中山大学 | A kind of portable space raster photography positioning device and system |
| CN210426543U (en) * | 2019-08-20 | 2020-04-28 | 中国科学院地理科学与资源研究所 | Portable topographic photography measurement system |
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| CN111405269A (en) * | 2020-03-12 | 2020-07-10 | 深圳臻像科技有限公司 | Method for adjusting view field overlapping rate of multi-view camera acquisition system |
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