CN111412888B - Building size measuring method - Google Patents

Building size measuring method Download PDF

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CN111412888B
CN111412888B CN202010335323.1A CN202010335323A CN111412888B CN 111412888 B CN111412888 B CN 111412888B CN 202010335323 A CN202010335323 A CN 202010335323A CN 111412888 B CN111412888 B CN 111412888B
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target
detection device
visual detection
building
pose
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CN111412888A (en
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武一苇
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Changsha Huahao Intelligent Equipment Co ltd
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Wuhan Painieer Technology Co ltd
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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications

Abstract

The invention relates to the technical field of building detection, and aims to provide a building size measuring system and a building size measuring method. The invention discloses a building size measuring system which comprises a visual detection device and a target arranged corresponding to the visual detection device, wherein the visual detection device is arranged on a point to be detected of a building, the target is arranged on any datum point far away from the building, and the target is in a polyhedral structure. The invention also discloses a building size measuring method, which comprises the following steps: enabling the visual detection device to correspond to a point to be detected of the building; enabling the target to correspond to any datum point far away from a building, and presetting a plurality of characteristic points on the target to obtain the distance between the characteristic points of the target; measuring azimuth information of each characteristic point of the target; obtaining a first pose of the target relative to the visual detection device; and obtaining a first pose of the visual detection device relative to the target. The invention has high measuring efficiency and can simultaneously realize the measurement of the position and the posture of a certain point to be measured of a building.

Description

Building size measuring method
Technical Field
The invention relates to the technical field of building detection, in particular to a building size measuring system and a building size measuring method.
Background
In the building engineering, in order to ensure the building quality and the dimensional accuracy, various geometric dimensions of the building need to be measured by regularly fixed nodes. And determining whether the finished work is qualified or not according to the measurement result, and correspondingly adjusting the project at the later stage. The measuring efficiency directly influences the project construction period, and the measuring precision determines the project quality.
In the prior art, theodolite is generally used for measurement, and during measurement, other key dimensions of a building structure are measured by using a fixed datum point. However, the site links of the construction engineering are complex, the building structure has a large size, the measurement work is difficult to be completed by a single datum point, and in the actual operation process, multiple datum changes are often required, so that the measurement efficiency is low. Therefore, it is necessary to develop a building dimension measuring system and a building dimension measuring method with high measurement efficiency.
Disclosure of Invention
The present invention is directed to solving the above problems, at least to some extent, and provides a building dimension measuring system and a building dimension measuring method.
The technical scheme adopted by the invention is as follows:
a building size measuring system comprises a visual detection device and a target arranged corresponding to the visual detection device, wherein the visual detection device is arranged on a point to be detected of a building, the target is arranged on any datum point far away from the building, and the target is of a polyhedral structure.
Preferably, the visual inspection device is movably disposed on the building.
Preferably, the target is provided in a plurality of numbers, the plurality of targets are distributed, and the plurality of targets are respectively provided at a plurality of reference points far away from the building.
Further preferably, the visual detection means comprises a lidar or an ultrasonic radar.
A measuring method of a building dimension measuring system according to the above, comprising the steps of:
enabling the visual detection device to correspond to a point to be detected of the building;
enabling the target to correspond to any datum point far away from a building, and presetting a plurality of characteristic points on the target to obtain the distance between the characteristic points of the target;
the visual detection device measures the azimuth information of each characteristic point of the target;
obtaining a first pose of the target relative to the visual detection device according to the distance between the characteristic points of the target and the azimuth information of the characteristic points of the target;
and obtaining a first pose of the visual detection device relative to the target.
Preferably, after the step of obtaining the first pose of the visual inspection device relative to the target, the method further includes the following steps:
moving the visual detection device to enable the visual detection device to correspond to other points to be detected of the building;
the visual detection device measures the azimuth information of each characteristic point of the target again;
obtaining a second pose of the target relative to the visual detection device according to the distance between the characteristic points of the target and the azimuth information of the characteristic points of the target measured again;
obtaining a second pose of the visual detection device relative to the target;
and obtaining the average pose of the visual detection device relative to the target according to the first pose of the visual detection device relative to the target and the second pose of the visual detection device relative to the target.
Preferably, the step of enabling the target to correspond to any datum point far away from the building further comprises the following steps:
the position of the target is adjusted to enable the bottom surface of the target to be parallel to the horizontal plane.
Further preferably, the step of obtaining the first pose of the target relative to the visual inspection device according to the distance between the feature points of the target and the azimuth information of the feature points of the target includes:
calculating coordinates of each characteristic point according to the distance between each characteristic point of the target and the azimuth information of each characteristic point of the target;
obtaining the coordinates of the body center of the target according to the coordinates of the characteristic points;
obtaining the rotation angle of the target around the designated axis according to the coordinates of the body center of the target;
and obtaining a first pose of the target relative to the visual detection device according to the coordinates of the body center of the target and the rotation angle of the target around the designated axis.
Preferably, the target is provided in a plurality of numbers, the targets are distributed, and the targets are respectively arranged on a plurality of reference points far away from the building; after the step of obtaining the first pose of the visual inspection device relative to the target, the method further comprises the following steps:
obtaining position information among the targets;
presetting a plurality of characteristic points on other targets to obtain the distance between the characteristic points of the other targets;
the visual detection device measures the azimuth information of each characteristic point of other targets;
obtaining a first pose of the other targets relative to the visual detection device according to the distance between the characteristic points of the other targets and the azimuth information of the characteristic points of the targets;
obtaining a first pose of the visual detection device relative to other targets;
and obtaining an average first pose of the visual detection device relative to all the targets according to the first pose of the visual detection device relative to the targets, the first pose of the visual detection device relative to other targets and the position information among the targets.
Further preferably, after the step of obtaining the average first pose of the visual inspection device with respect to all the targets, the method further includes the following steps:
and error correction is carried out on the average first position of the visual detection device relative to all the targets by adopting a least square method.
The invention has the beneficial effects that:
1) the building dimension measuring system has high measuring efficiency, and can simultaneously realize the measurement of the position and the posture of a certain point to be measured of the building. Specifically, the target is in a polyhedral structure, so that a plurality of characteristic points can be preset on the target, and the measurement of the position and the posture of a point to be measured of a building can be realized under the condition of only arranging one target; meanwhile, only one target needs to be detected by the visual detection device, so that single-point detection is realized, and the detection speed is effectively improved;
2) the building size measuring method is realized based on a building size measuring system and has the advantage of high measuring efficiency.
Drawings
FIG. 1 is a schematic view of a building dimensional measurement system of the present invention during implementation;
FIG. 2 is a top view of the visual inspection device and target of FIG. 1;
FIG. 3 is a rear view of the visual inspection device and target of FIG. 1;
FIG. 4 is a schematic view of a building dimension measuring system according to the present invention when a target is blocked by an obstacle;
fig. 5 is a schematic view of the measurement principle of a building size measurement system according to the present invention.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments.
Example 1:
the present embodiment provides a building dimension measuring system, which is used for measuring dimension data of a building 3, as shown in fig. 1 to 3, and includes a visual detection device 1 and a target 2 disposed corresponding to the visual detection device 1, where the targets 2-1 and 2-2 in the figure are targets 2 disposed at different positions, the visual detection device 1 is disposed on a point to be detected of the building 3, the target 2 is disposed on any reference point far away from the building 3, the target 2 is a polyhedral structure, and/or the target 2 has different shapes in various directions, has different dimensions in various directions of the target 2, and has a salient mark that is easy to determine in various directions of the target 2. In the installation process, the signal emitting point of the visual inspection device 1 may be, but is not limited to, corresponding to a point to be detected of a building, and the body center of the target 2 may be, but is not limited to, corresponding to any reference point far from the building 3.
The building dimension measuring system in the embodiment has high measuring efficiency, and can simultaneously realize the measurement of the position and the posture of a certain point to be measured of the building 3. Specifically, the target 2 is arranged in a polyhedral structure, so that a plurality of characteristic points are preset on the target 2, and the measurement of the position and the posture of a point to be measured of the building 3 can be realized under the condition that only one target 2 is arranged; meanwhile, only one target 2 needs to be detected by the visual detection device 1, so that single-point detection is realized, and the detection speed is effectively improved.
Further, the visual inspection device 1 is movably provided on the building 3.
It should be noted that, by such an arrangement, the measurement cost can be effectively reduced; meanwhile, the visual detection device 1 is movably arranged on the building 3, and the measurement results of the visual detection device 1 at different points to be detected can be contrasted and analyzed, so that the detection precision is obviously improved; in addition, the visual inspection device 1 is located at different points to be inspected, wherein two points to be inspected can form a measuring line, three points to be inspected can form a measuring surface, and four or more non-coplanar points to be inspected can form a measuring polyhedron, so that the inspection of a certain measuring line, a certain measuring surface or a measuring polyhedron of the building 3 can be realized, and the inspection range of the building 3 is wider in the embodiment.
Further, a plurality of targets 2 are provided, the plurality of targets 2 are provided in a dispersed manner, and the plurality of targets 2 are provided on a plurality of reference points distant from the building 3, respectively.
It should be noted that, for complex terrain and environment, multiple reference points can be calibrated, and multiple targets 2 are arranged at multiple reference points in a matching manner at one time, so that the visual field reachable range of the visual detection device 1 can be greatly improved in the detection process, as shown in fig. 4, when any target 2-2 is blocked by an obstacle 4, other targets 2 (target 2-1 and target 2-3) are located in the detection range of the visual detection device 1, thereby avoiding measuring dead angles, and making the present embodiment less influenced by the environment.
In the present embodiment, the visual inspection device 1 includes a laser radar or an ultrasonic radar. It should be noted that the lidar is a radar that emits a laser beam to detect a characteristic quantity such as a position and a speed of a target, and the ultrasonic radar is a radar that uses ultrasonic positioning, and in a use process, the lidar can emit a detection signal laser beam or ultrasonic to a preset characteristic point on the target 2, and then compares a received signal target echo reflected from the preset characteristic point on the target 2 with an emission signal, and after appropriate processing, can obtain azimuth information of the preset characteristic point on the target 2.
Further, the visual inspection device 1 further comprises a bracket, and the laser radar or the ultrasonic radar is fixedly arranged on the bracket; in the implementation process, the support can be placed near the point to be detected of the building 3, and then the laser radar or the ultrasonic radar is fixedly arranged on the support, so that the position of the laser radar or the ultrasonic radar is arranged corresponding to the reference point of the building 3.
In this embodiment, the horizontal scanning angle of the vision inspection apparatus 1 is 360 °; the vertical scanning angle of the visual detection device 1 is 180 degrees, so that the visual detection device 1 is wide in detection range and convenient to measure the targets 2 at different positions.
Example 2:
the embodiment provides a measurement method based on the building dimension measurement system in embodiment 1, which includes the following steps:
s1, enabling a visual detection device 1 to correspond to a point to be detected of a building 3, namely arranging the visual detection device 1 at the point to be detected of the building 3;
s2, enabling the target 2 to correspond to any datum point far away from the building 3, namely, arranging the target 2 on any datum point far away from the building 3, and presetting a plurality of characteristic points on the target 2 to obtain the distance between the characteristic points of the target 2;
specifically, as shown in fig. 5, when the target 2 is set to be a cube, the position of the target 2 is adjusted so that the bottom surface of the target 2 is parallel to the horizontal plane; presetting a plurality of characteristic points on the target 2, in the embodiment, setting a plurality of vertexes of the target 2 as the characteristic points (point a, point B, point C, point D, point E and point F) to obtain a distance k between adjacent characteristic points of the target 2;
s3, the visual detection device 1 measures the azimuth information of each characteristic point of the target 2;
specifically, as shown in fig. 5, a rectangular coordinate system O-XYZ is established with a point to be detected where the visual inspection apparatus 1 is located as an origin O; the azimuth information of each feature point includes an angle of each feature point with respect to the OXY plane, an angle of each feature point with respect to the OXZ plane, and an angle of each feature point with respect to the OYZ plane, for example, an included angle γ between the A point and the OXY planeAAnd the included angle gamma between the B point and the OXY surfaceBAn included angle alpha between the point A and the point B and the OXZ plane, an included angle beta between the point A and the point B and the OYZ plane, and the like; the projection of an AB line segment formed by the point A and the point B on an OXY surface is a point H, and a connecting line OH of the point H and the point O is the distance between the point A and the point B and the Z axis;
s4, obtaining a first pose of the target 2 relative to the visual detection device 1 according to the distance between the characteristic points of the target 2 and the azimuth information of the characteristic points of the target 2;
specifically, the step of obtaining the first pose of the target 2 with respect to the visual inspection device 1 based on the distance between the feature points of the target 2 and the azimuth information of the feature points of the target 2 includes:
s401, calculating coordinates of each feature point according to the distance between each feature point of the target 2 and the azimuth information of each feature point of the target 2;
specifically, from the distance k between the point a and the point B, the azimuth information of the point a, and the azimuth information of the point B, it is known that:
Figure GDA0003399924540000071
HA＝HB+k
this gives:
Figure GDA0003399924540000072
Figure GDA0003399924540000081
Figure GDA0003399924540000082
thus, the coordinates of point A are
Figure GDA0003399924540000083
The coordinates of the point B are
Figure GDA0003399924540000084
Similarly, the coordinates of the point C, the point D, the point E and the point F can be obtained, for example, the coordinate of the point D is
Figure GDA0003399924540000085
S402, obtaining the coordinates of the body center of the target 2 according to the coordinates of the characteristic points;
specifically, since AD is a cube diagonal line, assuming that the body center of the target is M points and the coordinates of M points are the middle points of AD, the coordinates of the body center of the target 2, i.e., the coordinates of M points, are M (M)x,My,MZ) Wherein:
Figure GDA0003399924540000086
Figure GDA0003399924540000087
Figure GDA0003399924540000088
s403. according to the coordinate M (M) of the body center of the target 2x,My,Mz) Obtaining the rotation angle of the target 2 around the designated axis;
specifically, in this embodiment, the designated axis is the Z axis, the rotation angle of the target 2 around the Z axis is θ, the point E points to the point a are the Y axis forward direction, and the point E points to the point C are the X axis forward direction, and the coordinate values of the points C and D on the horizontal plane are the same, so that D is used instead of C theoretically
Figure GDA0003399924540000089
The positive included angle with the X axis is 135 degrees, then the current situation is
Figure GDA00033999245400000810
The positive included angle theta' between the X axis and the X axis is as follows:
Figure GDA00033999245400000811
if the right-handed screw rule is taken as the positive direction of the target rotation around the Z axis, the rotation angle theta of the target 2 around the Z axis is as follows:
Figure GDA0003399924540000091
s404, obtaining a first pose of the target 2 relative to the visual detection device 1 according to the coordinates of the body center of the target 2 and the rotation angle of the target 2 around the designated axis.
Specifically, the present embodiment describes the pose using a homogeneous transformation matrix, from the coordinates M (M) of the body center of the target 2x,My,Mz) And the rotation angle θ of the target 2 around the specified axis, the first attitude of the target 2 with respect to the visual detection device 1 is:
Figure GDA0003399924540000092
and S5, obtaining a first pose of the visual detection device 1 relative to the target 2.
Specifically, the first posture of the visual detection device 1 with respect to the target 2 can be estimated from the first posture of the target 2 with respect to the visual detection device 1
Figure GDA0003399924540000093
It can be obtained by using the existing homogeneous transformation inversion method, which is not described herein.
The first position of the visual inspection device 1 with respect to the target 2 is described
Figure GDA0003399924540000094
Namely the pose of the vision detection device 1 relative to the reference point of the target 2, so that the pose of the point to be detected of the building 3 relative to the reference point of the target 2 can be known, a user can compare whether the height and/or the direction and the like of the point to be detected of the building 3 meet the standard according to the standard size, and the measurement efficiency is high.
Example 3:
on the basis of embodiment 2, a building dimension measuring method further includes the steps of:
s6, moving the visual detection device 1 to enable the visual detection device 1 to correspond to other points to be detected of the building 3, namely, arranging the visual detection device 1 on another point to be detected of the building 3;
in embodiment 2, the visual inspection apparatus 1 is installed at the point O to be inspected of the building 31At this time, the point to be measured O1A rectangular coordinate system O is established for the origin1XYZ, in the present embodiment, the vision inspection apparatus 1 is arranged in series at the point O to be inspected of the building 32And point O to be detected3And respectively with the point to be detected O2And point O to be detected3As the origin, a rectangular coordinate system O is established2XYZ and O3XYZ, at this time with the point O to be detected1Coordinate system O of1XYZ as the reference coordinate system, the point O to be detected2Coordinate system O of2XYZ and the spot to be detected O3Coordinate system O of3-the homogeneous transformation matrices of XYZ relative to the reference coordinate system are respectively:
Figure GDA0003399924540000101
Figure GDA0003399924540000102
wherein, delta12As a coordinate system O2-rotation angle of XYZ about the Z axis relative to a reference coordinate system, δ13As a coordinate system O3-rotation angle of XYZ about the Z axis relative to a reference coordinate system, x12As a coordinate system O2-X-axis coordinate values of XYZ with respect to a reference coordinate system, X13As a coordinate system O3-XYZ and O3X-axis coordinate value, y, of the coordinate system relative to the reference coordinate system12、y13、z12And z13The same holds true for the definitions of (1).
S7, the visual detection device 1 measures the azimuth information of each characteristic point of the target 2 again; this step is the same as step S401, and is not described herein again.
S8, obtaining a second pose of the target 2 relative to the visual detection device 1 according to the distance between the characteristic points of the target 2 and the azimuth information of the characteristic points of the target 2 measured again;
specifically, according to embodiment 2, in the reference coordinate system, the first pose of the target 2 with respect to the visual inspection apparatus 1 is:
Figure GDA0003399924540000111
similarly, in the coordinate system O2XYZ and coordinate System O3In XYZ, the second position of the target 2 with respect to the visual inspection device 1 is:
Figure GDA0003399924540000112
Figure GDA0003399924540000113
s9, obtaining a second pose of the visual detection device 1 relative to the target 2, wherein the second pose is the pose of another point to be detected of the building 3 relative to the reference point of the target 2;
specifically, the vision inspection device 1 is located at the point O to be inspected2The second posture relative to the target 2
Figure GDA0003399924540000114
The vision inspection device 1 is positioned at the point to be inspected O3The second posture relative to the target 2
Figure GDA0003399924540000115
And S10, obtaining an average pose of the visual detection device 1 relative to the target 2 according to the first pose of the visual detection device 1 relative to the target 2 and the second pose of the visual detection device 1 relative to the target 2.
Specifically, according to example 2, the body center M of the target 2 in the reference coordinate system1In a coordinate system O2Body center M of target 2 in XYZ2In the coordinate system O3Body center M of target 2 in XYZ3To make the body center M2With the body core M3Is changed in same timeConverting the matrix into a reference coordinate system:
Figure GDA0003399924540000116
Figure GDA0003399924540000121
are now known
Figure GDA0003399924540000122
And
Figure GDA0003399924540000123
the body center M can be obtained according to the triangle gravity center formula1Body core M2Harmony body core M3The center of gravity of a triangle formed by vertexes is set as M0(Mx,My,MZ) Wherein:
Figure GDA0003399924540000124
Figure GDA0003399924540000125
Figure GDA0003399924540000126
similarly, the rotation angle around the Z axis is also the average value theta of three points0：
Figure GDA0003399924540000127
In conclusion, from M1、M2And M3The position of the center of gravity M of the triangle formed by the vertices relative to the reference coordinate system, i.e. the plane of the vision inspection device 1 relative to the target 2The pose is as follows:
Figure GDA0003399924540000128
wherein:
Figure GDA0003399924540000129
Figure GDA0003399924540000131
Figure GDA0003399924540000132
Figure GDA0003399924540000133
it should be noted that, in this embodiment, the visual detection device 1 is movably disposed on the building 3, so as to measure pose information of different points to be measured of the building conveniently, and then obtain an average pose of the visual detection device 1 relative to the target 2 through comparison, so as to avoid measurement errors possibly caused by single measurement and improve detection accuracy.
Example 4:
on the basis of embodiment 3, in order to further reduce the measurement error, the following improvements are made in the present embodiment:
a plurality of targets 2 are provided, the plurality of targets 2 are arranged in a dispersed manner, the plurality of targets 2 are respectively arranged on a plurality of reference points far away from the building 3, and the method of embodiment 1 is arranged; between the step of obtaining the first pose of the visual inspection device 1 with respect to the target 2 (step S5) and the step of moving the visual inspection device 1 so that the visual inspection device 1 corresponds to another point to be inspected of the building 3 (step S6), the method further includes the steps of:
SA1, obtaining position information among targets 2;
SA2, presetting a plurality of characteristic points on other targets 2 to obtain the distance between the characteristic points of the other targets 2;
SA3, the visual detection device 1 measures the azimuth information of each feature point of other targets 2;
SA4, obtaining a first pose of the other targets 2 relative to the visual detection device 1 according to the distance between the characteristic points of the other targets 2 and the azimuth information of the characteristic points of the targets 2;
SA5, obtaining a first position of the visual detection device 1 relative to the other targets 2;
and SA6, obtaining an average first pose of the vision detection device 1 relative to all the targets 2 according to the first pose of the vision detection device 1 relative to the target 2, the first poses of the vision detection device 1 relative to other targets 2 and the position information among the targets 2.
Further, after the step of obtaining the average first pose of the visual inspection device 1 with respect to all the targets 2, the method further includes the steps of:
and SA7, correcting errors of the average first positions of the visual detection device 1 relative to all the targets 2 by using a least square method. It should be noted that, with this configuration, the measurement error can be further reduced.
When the number of the targets 2 is two, the average first pose of the visual detection apparatus 1 with respect to all the targets 2 is the pose of the visual detection apparatus 1 with respect to the midpoint of the two targets 2; when the number of the targets 2 is three, the average first pose of the visual detection device 1 with respect to all the targets 2 is the pose of the visual detection device 1 with respect to the center of gravity of the three targets 2; when the number of the targets 2 is four or more, the average first posture of the visual detection device 1 with respect to all the targets 2 is the posture of the visual detection device 1 with respect to the body centers of the plurality of targets 2.
The present invention is not limited to the above-described alternative embodiments, and various other forms of products can be obtained by anyone in light of the present invention. The above detailed description should not be taken as limiting the scope of the invention, which is defined in the claims, and which the description is intended to be interpreted accordingly.

Claims (6)

1. A building dimension measurement method is made based on a building dimension measurement system, and is characterized in that: the building dimension measuring system comprises a visual detection device (1) and a target (2) arranged corresponding to the visual detection device (1), wherein the visual detection device (1) is arranged on a point to be detected of a building (3), the target (2) is arranged on any datum point far away from the building (3), the target (2) is of a polyhedral structure, and the visual detection device (1) is movably arranged on the building (3); the building size measuring method comprises the following steps:
enabling the visual detection device (1) to correspond to a point to be detected of the building (3);
enabling the target (2) to correspond to any datum point far away from the building (3), and presetting a plurality of characteristic points on the target (2) to obtain the distance between the characteristic points of the target (2);
the visual detection device (1) measures the azimuth information of each characteristic point of the target (2);
obtaining a first pose of the target (2) relative to the visual detection device (1) according to the distance between the characteristic points of the target (2) and the azimuth information of the characteristic points of the target (2);
and obtaining a first pose of the visual detection device (1) relative to the target (2).
2. A building size measuring method according to claim 1, characterized in that: after the step of obtaining the first pose of the visual inspection device (1) relative to the target (2), the method further comprises the following steps:
moving the visual detection device (1) to enable the visual detection device (1) to correspond to other points to be detected of the building (3);
the visual detection device (1) measures the azimuth information of each characteristic point of the target (2) again;
obtaining a second pose of the target (2) relative to the visual detection device (1) according to the distance between the characteristic points of the target (2) and the azimuth information of the characteristic points of the target (2) measured again;
obtaining a second pose of the visual detection device (1) relative to the target (2);
and obtaining the average pose of the visual detection device (1) relative to the target (2) according to the first pose of the visual detection device (1) relative to the target (2) and the second pose of the visual detection device (1) relative to the target (2).
3. A building size measuring method according to claim 1, characterized in that: the step of making the target (2) correspond to any datum point far away from the building (3) further comprises the following steps:
the position of the target (2) is adjusted to enable the bottom surface of the target (2) to be parallel to the horizontal plane.
4. A building size measuring method according to claim 3, characterized in that: the step of obtaining the first pose of the target (2) relative to the visual detection device (1) according to the distance between the characteristic points of the target (2) and the azimuth information of the characteristic points of the target (2) comprises the following steps:
calculating the coordinates of each characteristic point according to the distance between each characteristic point of the target (2) and the azimuth information of each characteristic point of the target (2);
obtaining the coordinates of the body center of the target (2) according to the coordinates of the characteristic points;
obtaining the rotation angle of the target (2) around the designated axis according to the coordinates of the body center of the target (2);
and obtaining a first pose of the target (2) relative to the visual detection device (1) according to the coordinates of the body center of the target (2) and the rotation angle of the target (2) around the specified axis.
5. A building size measuring method according to claim 1 or 2, characterized in that: the targets (2) are distributed, and the targets (2) are respectively arranged on a plurality of datum points far away from the building (3); after the step of obtaining the first pose of the visual inspection device (1) relative to the target (2), the method further comprises the following steps:
obtaining position information among the targets (2);
presetting a plurality of characteristic points on other targets (2) to obtain the distance between the characteristic points of the other targets (2);
the visual detection device (1) measures the azimuth information of each characteristic point of other targets (2);
obtaining a first pose of the other target (2) relative to the visual detection device (1) according to the distance between the characteristic points of the other target (2) and the azimuth information of the characteristic points of the target (2);
obtaining a first pose of the visual detection device (1) relative to other targets (2);
and obtaining an average first pose of the visual detection device (1) relative to all the targets (2) according to the first pose of the visual detection device (1) relative to the target (2), the first pose of the visual detection device (1) relative to other targets (2) and the position information among the targets (2).
6. A building size measuring method according to claim 5, characterized in that: after the step of obtaining the average first pose of the visual inspection device (1) relative to all targets (2), the method further comprises the following steps:
and correcting errors of the average first positions of the visual detection device (1) relative to all the targets (2) by adopting a least square method.
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