CN112815842B - Laser spot drop point marking and space measuring method and measuring system - Google Patents
Laser spot drop point marking and space measuring method and measuring system Download PDFInfo
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- CN112815842B CN112815842B CN202110005184.0A CN202110005184A CN112815842B CN 112815842 B CN112815842 B CN 112815842B CN 202110005184 A CN202110005184 A CN 202110005184A CN 112815842 B CN112815842 B CN 112815842B
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- 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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
Abstract
The application provides a laser spot drop point marking method, a space measurement method and a measurement system, wherein the space measurement method comprises the following steps: the imaging device is aligned to a target plane to shoot and generate an image of the target plane, wherein a laser falling point of the first laser range finder, a laser falling point of the second laser range finder and a laser falling point of the third laser range finder are all located on the target plane, and a laser distance of the first laser range finder, a laser distance of the second laser range finder and a laser distance of the third laser range finder are read; the calculation unit calculates the projection coordinates of the target point in the camera coordinate system according to the imaging of the target plane, the laser distances of the first laser range finder, the second laser range finder and the third laser range finder and a linear equation, and then the calculation unit performs space measurement on the target plane according to the projection coordinates of the target point in the camera coordinate system. The method and the device have the advantages of wide application range, low complexity, high measurement precision and the like.
Description
Technical Field
The application relates to the technical field of vision measurement, in particular to a laser spot drop point marking and space measuring method and system.
Background
At present, the vision measurement technology mainly includes two kinds, the first is a focus measurement method and a terminal as disclosed in patent publication No. CN109855603A, the focus measurement method and the terminal need to make the distance meter align to more than three spatial points on a plane by rotating a pan-tilt, and further have the disadvantage of consuming longer time. On the other hand, when the terminal is in a shaking state, it is difficult to aim the laser at the target point, which takes a longer time, and the measurement process may not be completed.
Another vision measuring technique is a new laser vision measuring device disclosed in patent publication No. CN209197755U, and the measuring device needs to strictly join three laser beams at the same point in front of the device during the production process, which is difficult to produce. Secondly, in the process of using the measuring device for measurement, the laser spot of the laser range finder needs to be visible in a video picture, and the laser spot of the laser range finder is usually invisible in a daytime outdoor environment, so that the measuring device is limited to be only used in an indoor environment. In addition, the light beams of the laser range finder are converged in front of the camera, and when the intersection angle of the light beams of the laser range finder is larger than the field angle of the camera, the laser can certainly run out of the visible range of the camera beyond a certain distance, so that the focal range of the camera is limited, and the use scene of the measuring equipment is restrained again.
Disclosure of Invention
An object of the embodiments of the present application is to provide a laser spot drop point marking method, a spatial measurement method, and a measurement system, where laser calibration is used to implement the laser spot drop point marking and is used to mark the laser spot drop point, and the spatial measurement method and the measurement system are used to perform spatial measurement on a target plane.
The first aspect of the application discloses a laser spot drop point marking method, which comprises the following steps:
the method comprises the steps that a calculation unit determines the coordinates of a laser emitting point of a laser range finder in a camera coordinate system of an imaging device and a linear equation of laser of the laser range finder in the camera coordinate system;
the calculation unit acquires the laser distance between the laser range finder and a space point in front of the equipment;
the calculation unit calculates the three-dimensional space coordinates of the space points in the camera coordinate system according to the laser emission point coordinates, the linear equation and the laser distance;
the calculation unit calculates a plane equation of an imaging plane according to the focal length and the imaging principle of the imaging device;
the calculation unit determines the three-dimensional space coordinate of the intersection point of the straight line of the origin of the camera coordinate system of the imaging device and the space point and the imaging plane according to the plane equation and the three-dimensional space coordinate of the space point;
converting the three-dimensional space coordinate of the intersection point into a two-dimensional pixel coordinate according to the focal length and the imaging principle of the imaging device, and taking the two-dimensional pixel coordinate as the pixel coordinate of the laser light spot falling point;
and marking the position of the laser spot falling point in a video picture according to the pixel coordinate of the laser spot falling point.
The method of the first aspect of the application can determine the three-dimensional space coordinate of the intersection point of the straight line passing through the center point of the imaging plane and the space point and the imaging plane according to the plane equation and the three-dimensional space coordinate of the space point, and further can convert the three-dimensional space coordinate of the intersection point into the two-dimensional coordinate according to the focal length and the imaging principle of the imaging device and use the two-dimensional coordinate as the pixel coordinate of the laser spot falling point, so that the position of the laser spot falling point can be marked in a video picture according to the pixel coordinate of the laser spot falling point.
In the first aspect of the present application, as an optional implementation manner, the determining, by the computing unit, coordinates of a laser emission point of the laser range finder in a camera coordinate system of the imaging device and a linear equation of laser of the laser range finder in the camera coordinate system includes:
when the relative spatial position relationship between the imaging device and the laser range finder is fixed and laser spots emitted by the laser range finder are visible in the image of the imaging device, sequentially aligning the laser range finder to at least 5 targets located at different distances so that the laser spots emitted by the laser range finder sequentially fall on the at least 5 targets located at different positions;
the calculation unit sequentially acquires laser distances between the laser range finder and the at least 5 targets;
the imaging device sequentially acquires images containing the laser spots on the at least 5 targets;
the calculation unit calculates the spatial coordinates of each laser spot center point on the imaging plane of the imaging device based on the imaging of the laser spots;
the calculation unit calculates the coordinates of the laser emission point of the laser range finder in the camera coordinate system of the imaging device and the linear equation of the laser range finder in the camera coordinate system according to the space coordinates of the center point of each laser spot on the imaging plane and the laser distance between the laser range finder and each target. This alternative embodiment has a better calibration accuracy.
In the first aspect of the present application, as an optional implementation manner, the calculating unit calculates spatial coordinates of each pixel center point of the laser spot on an imaging plane based on the imaging of the laser spot, and includes:
the computing unit computes pixel coordinates of each laser spot pixel center point in the imaging;
the calculating unit calculates a plane equation of an imaging plane according to the focal length and the imaging principle of the imaging device;
and the calculation unit calculates and obtains the spatial coordinates of each laser spot center point on the imaging plane according to the pixel coordinates of each laser spot center point in the imaging and the plane equation of the imaging plane.
In this optional embodiment, the spatial coordinates of the pixel center point of each laser spot on the imaging plane can be obtained by calculating the pixel coordinates of the pixel center point of each laser spot in the imaging and the focal length of the imaging device.
In the first aspect of the present application, as an optional implementation manner, the calculating unit calculates, according to a spatial coordinate of each laser spot center point on an imaging plane and a laser distance between the laser range finder and each target, a coordinate of a laser emission point of the laser range finder in a camera coordinate system of the imaging device and a linear equation of a laser of the laser range finder in the camera coordinate system, including:
the calculation unit takes the laser distance between the laser range finder and each target and the space coordinate of the central point of each laser spot on an imaging plane as known conditions to construct 5 target equations, wherein the target equations comprise 5 unknowns X0, Y0, z0, X1 and Y1, the X0, the Y0 and the z0 represent the coordinates of a laser emission point of the laser range finder in a camera coordinate system of the imaging device, and the X1 and the Y1 represent the X-axis coordinate and the Y-axis coordinate of the intersection point of a straight line of the laser range finder in the camera coordinate system and the imaging plane respectively;
the calculation unit solves the 5 target equations and obtains the values of the 5 unknowns x0, y0, z0, x1 and y1 respectively.
The calculation unit determines the coordinates of the laser emission point of the laser range finder in a camera coordinate system of the imaging device according to the value of x0, the value of y0 and the value of z 0;
the calculation unit determines coordinates of intersection points of straight lines of laser of the laser range finder in the camera coordinate system and the imaging plane according to the value of x1, the value of y1 and a plane equation of the imaging plane;
the calculation unit determines a linear equation of the laser range finder in the camera coordinate system according to the coordinates of the laser emission point of the laser range finder in the camera coordinate system of the imaging device and the coordinates of the intersection point of the laser range finder in the camera coordinate system and the imaging plane.
In this alternative embodiment, the line equation of the laser range finder and the coordinates of the laser emission point can be calculated by 5 target equations.
The second aspect of the application discloses a measurement system, the system includes first laser range finder, second laser range finder, third laser range finder, imaging device, computational element, wherein, first laser range finder's optical axis second laser range finder's optical axis third laser range finder's optical axis nonparallel each other, and do not imaging device the place ahead is crossed in same point, imaging device's sighting axis first laser range finder's optical axis second laser range finder's optical axis third laser range finder's the equal pointing device the place ahead of optical axis.
In a second aspect of the present application, the calculation unit is configured to determine the coordinates and linear equations of the laser emitting point of the first laser distance meter, the coordinates and linear equations of the laser emitting point of the second laser distance meter, and the coordinates and linear equations of the laser emitting point of the third laser distance meter according to the method of the first aspect of the present application, and the calculation unit is further configured to mark the position of the laser spot landing point according to the method of the first aspect of the present application.
Compared with the scheme of using a single laser range finder for spatial measurement, the system of the second aspect of the application does not need to align target points one by one when measuring a target plane, so that a large amount of time can be saved, and the influence of equipment jitter and shaking on the measurement process and the measurement precision is greatly reduced.
Meanwhile, the system of the second aspect of the present application does not require the laser spot to be visible in the video picture during measurement, and thus can be applied in outdoor scenes. Secondly, the laser range finder installation of the system of this application third aspect need not to be in coplanar, same perpendicular, and laser need not to intersect in a little, has very big degree of freedom, has reduced the complexity of design and production, has improved production efficiency. And thirdly, the laser does not need to be converged in front of the imaging device, so that the emission angle of the laser has great freedom, and thus, no special requirements are required on the field angle and the focal length of the imaging device, and the laser can be applied to more scenes.
In the second aspect of the present application, as an optional implementation manner, the first laser distance meter, the second laser distance meter, and the third laser distance meter are placed in a shape of Chinese character pin.
In the second aspect of the present application, as an optional implementation manner, the imaging device is placed in a delta shape with the first laser range finder and the second laser range finder.
In the second aspect of the present application, as an optional implementation manner, the system further includes a remote communication device, which is communicatively connected to the imaging device, and is configured to receive the real-time video picture sent by the imaging device.
In this optional embodiment, the real-time video frame can be sent to the operator through the remote communication device, so that the operator can monitor and measure remotely.
In the second aspect of the present application, as an optional implementation manner, the system further includes a holder, the holder is rotatably connected to the imaging device, and the holder further includes an angle measuring instrument, the angle measuring instrument is configured to measure a rotation angle of the imaging device.
In this alternative embodiment, the imaging device can be conveniently rotated by the pan/tilt head, thereby enlarging the measurement range of the apparatus.
The third aspect of the present application discloses a spatial measurement method, which is applied to the measurement system of the second aspect of the present application, and the method includes:
the imaging device is aligned to a target plane, and a laser drop point of the first laser range finder, a laser drop point of the second laser range finder and a laser drop point of the third laser range finder are all positioned on the target plane;
the imaging device shoots and generates an image of the target plane, and reads the laser distance of the first laser range finder, the laser distance of the second laser range finder and the laser distance of the third laser range finder respectively;
the calculation unit calculates the projection coordinate of the target point of the target plane in a camera coordinate system according to the imaging of the target plane, the laser distance of the first laser range finder, the laser emission point coordinate and linear equation, the laser distance of the second laser range finder, the laser emission point coordinate and linear equation, the laser distance of the third laser range finder, the laser emission point coordinate and linear equation;
and the computing unit performs space measurement on the target plane according to the projection coordinates of the target point in a camera coordinate system.
Compared with the scheme of using a single laser range finder for spatial measurement, the method of the third aspect of the application does not need to align target points one by one when measuring the target plane, so that a large amount of time can be saved, and the influence of equipment jitter and shaking on the measurement process and the measurement precision is greatly reduced.
Meanwhile, the method of the fourth aspect of the present application does not require the laser spot to be visible in the video picture during measurement, and thus can be applied in outdoor scenes. Secondly, the laser range finder of the method of the fourth aspect of the application is installed without being located on the same plane or the same vertical plane, and the laser does not need to be intersected at one point, so that the method has great freedom, the complexity of design and production is reduced, and the production efficiency is improved. And thirdly, the laser does not need to be converged in front of the imaging device, so that the emission angle of the laser has great freedom, and thus, no special requirements are required on the field angle and the focal length of the imaging device, and the laser can be applied to more scenes.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic flow chart of a laser calibration method according to an embodiment of the present application;
FIG. 2 is a schematic view of a laser calibration scenario;
fig. 3 is a schematic flowchart of a laser spot drop point marking method according to an embodiment of the present disclosure;
FIG. 4 is a schematic view of a laser spot placement marker;
FIG. 5 is a schematic flow chart of a spatial measurement method disclosed in an embodiment of the present application;
fig. 6 is a schematic view of a spatial measurement method.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
Example one
Referring to fig. 1, fig. 1 is a schematic flow chart of a laser calibration method according to an embodiment of the present disclosure, and the laser calibration method shown in fig. 1 includes the steps of:
101. when the relative spatial position relationship between the imaging device and the laser range finder is fixed and laser spots emitted by the laser range finder are visible in the image of the imaging device, the laser range finder is sequentially aligned to at least 5 targets located at different distances, so that the laser spots emitted by the laser range finder sequentially fall on the at least 5 targets located at different positions;
102. the calculation unit sequentially acquires laser distances between the laser range finder and at least 5 targets;
103. the imaging device sequentially acquires images containing laser spots on at least 5 targets;
104. the calculation unit calculates the spatial coordinates of the central point of each laser spot on the imaging plane of the imaging device based on the imaging of the laser spots;
105. and the calculation unit calculates the coordinates of the laser emission point of the laser range finder in the camera coordinate system of the imaging device and the linear equation of the laser range finder in the camera coordinate system according to the space coordinates of the central point of each laser spot on the imaging plane and the laser distance between the laser range finder and each target.
The embodiment of the application can calibrate the laser emission point and the linear equation of the laser range finder.
In the embodiment of the present application, step 104: the calculating unit calculates the space coordinate of the central point of each laser spot on the imaging plane of the imaging device based on the imaging of the laser spots, and comprises the following sub-steps:
the calculating unit calculates the pixel coordinates of the central point of each laser spot in the imaging according to the imaging of the laser spots;
the calculating unit calculates a plane equation of an imaging plane according to the focal length and the imaging principle of the imaging device;
and the calculating unit calculates and obtains the spatial coordinates of the central point of each laser spot on the imaging plane according to the pixel coordinates of the central point of each laser spot in the imaging and the plane equation of the imaging plane.
In the embodiment of the present application, as an optional implementation manner, step 105: the calculation unit calculates the coordinates of the laser emission point of the laser range finder in the camera coordinate system of the imaging device and the linear equation of the laser range finder in the camera coordinate system according to the space coordinates of the center point of each laser spot on the imaging plane and the laser distance between the laser range finder and each target, and comprises:
the calculation unit takes the laser distance between the laser range finder and each target and the space coordinate of the central point of each laser spot on the imaging plane as known conditions to construct 5 target equations, wherein the target equations comprise 5 unknowns X0, Y0, z0, X1 and Y1, X0, Y0 and z0 represent the coordinates of the laser emission point of the laser range finder in the camera coordinate system of the imaging device, and X1 and Y1 respectively represent the X-axis coordinate and the Y-axis coordinate of the intersection point of the straight line of the laser range finder in the camera coordinate system and the imaging plane;
the calculation unit solves 5 target equations according to a least square method, and obtains values of 5 unknowns x0, y0, z0, x1 and y1 respectively.
The calculation unit determines the coordinates of the laser emission point of the laser range finder in a camera coordinate system of the imaging device according to the value of x0, the value of y0 and the value of z 0;
and the calculating unit determines the coordinates of the intersection point of the straight line of the laser range finder in the camera coordinate system and the imaging plane according to the value of x1, the value of y1 and the plane equation of the imaging plane.
The calculation unit determines a linear equation of the laser range finder in the camera coordinate system according to the coordinates of the laser emitting point of the laser range finder in the camera coordinate system of the imaging device and the coordinates of the intersection point of the laser range finder in the camera coordinate system and the imaging plane.
For example, referring to fig. 2, fig. 2 is a schematic view of a laser calibration scenario. As shown in fig. 2, assuming that in the camera coordinate system of the imaging device, the coordinates of the laser emitting point of the laser range finder are (x 0, y0, Z0), the imaging center point is O (0, 0), i.e., the optical center coordinates of the imaging device, the equation of the camera imaging plane is Z = d, where d is determined according to the focal length of the imaging device, e.g., the focal length of the imaging device is 5, and d is 5. On the other hand, if a laser straight line of the laser range finder intersects with the camera imaging plane at a point T (x 1, y1, d), fi is a projection coordinate of a laser drop point in a camera coordinate system when the laser distance is Di, wherein i is a target serial number. On the other hand, assuming that the spatial coordinates of the central point of the laser spot pixel on the imaging plane are represented by Ni, for example, as shown in fig. 2, for two target alignment processes, there are projected points F1 and F2 of the laser drop point in the camera coordinate system, and the spatial coordinates of the two formed laser drop points on the camera imaging plane are represented by N1 and N2, respectively.
Based on the above assumptions, under the condition that the spatial coordinates of Ni are determined according to the pixel coordinates of the pixel center point of the laser spot in the imaging and the imaging principle, and Di is known, 5 object equations can be constructed, wherein the object equations comprise five elements of x0, y0, z0, x1 and y1, and each object equation is constructed by aligning one target with the laser range finder, and further when there are 5 targets, 5 object equations can be constructed. Finally, the values of x0, y0, z0, x1, and y1 can be calculated according to the least square method, so that (x 0, y0, z 0) can be taken as the coordinates of the laser emission point and (x 1, y1, d) can be taken as the coordinates of the point T, so that the linear equation of the laser can be calculated from the coordinates of the laser emission point and the coordinates of T.
Example two
Referring to fig. 3, fig. 3 is a schematic flowchart of a laser spot location marking method according to an embodiment of the present disclosure. As shown in fig. 3, the method of the embodiment of the present application includes the steps of:
201. determining the coordinates of a laser emitting point of the laser range finder in a camera coordinate system of the imaging device and a linear equation of laser of the laser range finder in the camera coordinate system;
202. the calculation unit acquires the laser distance between the laser range finder and a space point in front of the equipment;
203. the calculating unit calculates the three-dimensional space coordinate of the space point in the camera coordinate system according to the laser emission point coordinate, the linear equation and the laser distance;
204. the calculating unit calculates a plane equation of an imaging plane according to the focal length and the imaging principle of the imaging device;
205. the calculation unit determines the three-dimensional space coordinate of the intersection point of the straight line passing through the camera coordinate system origin of the imaging device and the space point and the imaging plane according to the plane equation and the three-dimensional space coordinate of the space point;
206. converting the three-dimensional space coordinates of the intersection points into two-dimensional pixel coordinates according to the focal length and the imaging principle of the imaging device, and using the two-dimensional pixel coordinates as the pixel coordinates of the laser spot falling point;
207. and marking the position of the laser spot falling point in the video picture according to the pixel coordinate of the laser spot falling point.
In the embodiment of the present application, the coordinates of the laser emitting point of the laser range finder and the linear equation of the laser range finder are determined according to the laser calibration method of the first embodiment of the present application.
For example, referring to fig. 4, fig. 4 is a schematic view of a scene of a laser spot landing mark. As shown in fig. 4, in a camera coordinate system OF an imaging device, a projection OF a laser emission point OF a laser range finder is P (x 0, y0, Z0), an imaging center point is O (0, 0), a point F is a projection OF a laser drop point in a camera coordinate system, wherein a distance between the point P and the point F is equal to a laser distance, a point N is an intersection OF a straight line OF and a camera imaging plane, and an equation OF the camera imaging plane is Z = d, wherein d is determined according to a focal length OF the imaging device, and a coordinate P (x 0, y0, Z0) OF the laser emission point is determined according to the method OF the first embodiment OF the present application, so that a coordinate OF the point F can be calculated on the premise that P (x 0, y0, Z0), the laser distance, and the straight line equation are known, and further on the premise that the coordinate OF the point F, the equation Z = d OF the camera imaging plane, and the imaging center point O (0, 0) are known, a coordinate OF the point N, that is a three-dimensional coordinate OF the intersection, and further a two-dimensional coordinate OF the laser drop point can be converted into a three-dimensional coordinate OF a laser spot.
EXAMPLE III
The embodiment of the application discloses a measuring system, wherein the system comprises a first laser range finder, a second laser range finder, a third laser range finder, an imaging device and a calculating unit, wherein an optical axis of the first laser range finder, an optical axis of the second laser range finder and an optical axis of the third laser range finder are not parallel to each other and do not intersect at the same point in front of the imaging device, and a sighting axis of the imaging device, the optical axis of the first laser range finder, the optical axis of the second laser range finder and the optical axis of the third laser range finder all point to the front of equipment;
the calculating unit is used for determining the coordinates and the linear equation of the laser emitting point of the first laser distance meter, the coordinates and the linear equation of the laser emitting point of the second laser distance meter, the coordinates and the linear equation of the laser emitting point of the third laser distance meter, and the calculating unit is further used for marking the position of the laser spot falling point according to the marking method of the second embodiment of the application.
In the embodiment of the present application, the specific manner of determining the coordinates and the linear equation of the laser emitting point of the first laser distance meter, the coordinates and the linear equation of the laser emitting point of the second laser distance meter, and the coordinates and the linear equation of the laser emitting point of the third laser distance meter by the calculating unit is determined according to the method in the first embodiment of the present application.
In this embodiment, optionally, the first laser distance meter, the second laser distance meter, and the third laser distance meter are placed in a delta shape.
In the embodiment of the application, the three lasers are placed in a delta shape, so that the internal space of the equipment is saved, and the three beams of laser can form three table-shaped edges. Therefore, the emitting angle of the laser can be conveniently adjusted, and the laser is not easy to exceed the range of the video picture.
In this embodiment, optionally, the imaging device is placed in a delta shape with the first laser range finder and the second laser range finder.
In this embodiment, optionally, the system of this embodiment further includes a remote communication device, where the remote communication device is connected in communication with the imaging device, and is configured to receive the real-time video picture sent by the imaging device. Through the remote communication device, the remote monitoring and the measurement of an operator can be facilitated.
In this embodiment, optionally, the system further includes a holder, and the holder is rotatably connected to the imaging device. The imaging device can be conveniently rotated through the holder, so that the measurement range of the equipment is enlarged. On the other hand, the holder further comprises an angle measuring instrument for measuring the rotation angle of the imaging device.
Example four
Referring to fig. 5, fig. 5 is a schematic flow chart of a spatial measurement method according to an embodiment of the present disclosure, wherein the method is applied to a measurement system. As shown in fig. 5, the method of the embodiment of the present application includes the steps of:
301. the imaging device is aligned to a target plane, and a laser drop point of the first laser range finder, a laser drop point of the second laser range finder and a laser drop point of the third laser range finder are all positioned on the target plane;
302. the imaging device shoots and generates an image of a target plane, and the laser distance of the first laser range finder, the laser distance of the second laser range finder and the laser distance of the third laser range finder are respectively read;
303. the calculation unit calculates the projection coordinate of the target point of the target plane according to the imaging of the target plane, the laser distance of the first laser distance meter, the coordinate and linear equation of the laser emission point, the laser distance of the second laser distance meter, the coordinate and linear equation of the laser emission point, the laser distance of the third laser distance meter, the coordinate and linear equation of the laser emission point;
304. the calculation unit performs spatial measurement on the target plane according to the projection coordinates of the target point in the camera coordinate system.
Referring to fig. 6, fig. 6 is a schematic view of a spatial measurement method. As shown in fig. 6, in the camera coordinate system of the imaging device, it is assumed that PA, PB, PC are the laser emitting point of the first laser rangefinder, the laser emitting point of the second laser rangefinder, and the laser emitting point of the third laser rangefinder, respectively, and FA, FB, FC are the projection of the laser landing point of the first laser rangefinder in the camera coordinate system, the projection of the laser landing point of the second laser rangefinder in the camera coordinate system, and the projection of the laser landing point of the third laser rangefinder in the camera coordinate system, respectively, DA, DB, DC are the laser distance of the first laser rangefinder, the laser distance of the second laser rangefinder, and the laser distance of the third laser rangefinder, respectively, and then when the coordinates of the laser emitting point of the first laser distance meter, the coordinates of the laser emitting point of the second laser distance meter, the coordinates of the laser emitting point of the third laser distance meter, the laser distance DA of the first laser distance meter, the laser distance DB of the second laser distance meter, the laser distance DC of the third laser distance meter, the linear equation of the first laser distance meter, the linear equation of the second laser distance meter and the linear equation of the third laser distance meter are known, the coordinates of the point FA, the point FB and the point FC can be calculated, and then the equation of the target plane can be determined according to the coordinates of the FA, the point FB and the point FC.
Based on the equation of the target plane determined from the coordinates of FA, FB, FC, for point Q on the target plane, the pixel center coordinates of point Q can be determined from the imaging of point Q, and then the spatial coordinates of point Q on the imaging plane can be calculated from the focal length of the imaging device and the imaging principle, and then the projection coordinates of point Q on the target plane can be determined from the imaging principle and the equation of the target plane, so that the spatial measurement of the target plane can be completed based on the projection coordinates of a plurality of target points on the target plane, for example, the distance between point Q and point R can be calculated from the projection coordinates of point Q and the projection coordinates of point R on the target plane. As another example, the angle formed by two straight lines on the target plane may be calculated.
Compared with the scheme of using a single laser range finder, the embodiment of the application does not need to align the target points one by one when measuring the target plane, so that a large amount of time can be saved, and the influence of jitter and shaking of the equipment on the measuring process and the measuring precision is greatly reduced.
Meanwhile, the embodiment of the application does not need the laser spot to be visible in a video picture during measurement, so that the method and the device can be applied to outdoor scenes. Secondly, the installation of the laser range finder of this application embodiment need not to be in coplanar, same perpendicular, and laser need not to intersect in a bit, has very big degree of freedom, has reduced the complexity of design and production, has improved production efficiency. And thirdly, as the laser does not need to be converged in front of the imaging device, the emission angle of the laser has great freedom, so that the field angle and the focal length of the imaging device are not required, and the imaging device can be applied to more scenes.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is only a logical division, and other divisions may be realized in practice, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
It should be noted that the functions, if implemented in the form of software functional modules and sold or used as independent products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (8)
1. A laser spot drop marking method is characterized by comprising the following steps:
the method comprises the steps that a calculation unit determines the coordinates of a laser emission point of a laser range finder in a camera coordinate system of an imaging device and a linear equation of laser of the laser range finder in the camera coordinate system;
the calculation unit acquires a laser distance between the laser range finder and a space point in front of the equipment;
the calculation unit calculates the three-dimensional space coordinates of the space points in the camera coordinate system according to the coordinates of the laser emission points, the linear equation and the laser distance;
the calculating unit calculates a plane equation of an imaging plane according to the focal length and the imaging principle of the imaging device;
the calculation unit determines the three-dimensional space coordinate of the intersection point of the straight line passing through the origin of the camera coordinate system of the imaging device and the space point and the imaging plane according to the plane equation and the three-dimensional space coordinate of the space point;
converting the three-dimensional space coordinate of the intersection point into a two-dimensional pixel coordinate according to the focal length and the imaging principle of the imaging device, and taking the two-dimensional pixel coordinate as the pixel coordinate of the laser light spot falling point;
marking the position of the laser spot falling point in a video picture according to the pixel coordinate of the laser spot falling point;
and the calculation unit determines the coordinates of a laser emission point of the laser range finder in a camera coordinate system of the imaging device and a linear equation of laser of the laser range finder in the camera coordinate system, and the calculation unit comprises:
when the relative spatial position relationship between the imaging device and the laser range finder is fixed and laser spots emitted by the laser range finder are visible in the image of the imaging device, the laser range finder is sequentially aligned to at least 5 targets located at different distances, so that the laser spots of the laser range finder sequentially fall on the at least 5 targets;
the calculation unit sequentially acquires laser distances between the laser range finder and the at least 5 targets;
the imaging device sequentially acquires images containing the laser spots on the at least 5 targets;
the calculation unit calculates the spatial coordinates of each laser spot center point on the imaging plane of the imaging device based on the imaging of the laser spots;
the calculation unit calculates the coordinates of a laser emission point of the laser range finder in a camera coordinate system of the imaging device and a linear equation of laser of the laser range finder in the camera coordinate system according to the spatial coordinates of the center point of each laser spot on an imaging plane and the laser distance between the laser range finder and each target;
and the calculation unit calculates the coordinates of the laser emission point of the laser range finder in the camera coordinate system of the imaging device and the linear equation of the laser range finder in the camera coordinate system according to the spatial coordinates of each laser spot center point on the imaging plane and the laser distance between the laser range finder and each target, and comprises:
the calculation unit takes the laser distance between the laser range finder and each target and the space coordinate of the central point of each laser spot on an imaging plane as known conditions to construct 5 target equations, wherein the target equations comprise 5 unknowns X0, Y0, z0, X1 and Y1, the X0, the Y0 and the z0 represent the coordinates of a laser emission point of the laser range finder in a camera coordinate system of the imaging device, and the X1 and the Y1 represent the X-axis coordinate and the Y-axis coordinate of the intersection point of a straight line of the laser range finder in the camera coordinate system and the imaging plane respectively;
the calculation unit solves the 5 target equations and respectively obtains the values of the 5 unknowns x0, y0, z0, x1 and y 1;
the calculation unit determines the coordinates of the laser emitting point of the laser range finder in a camera coordinate system of the imaging device according to the value of x0, the value of y0 and the value of z 0;
the calculation unit determines coordinates of intersection points of straight lines of laser of the laser range finder in the camera coordinate system and the imaging plane according to the value of x1, the value of y1 and a plane equation of the imaging plane;
the calculation unit determines a linear equation of the laser range finder in the camera coordinate system according to the coordinates of the laser emission point of the laser range finder in the camera coordinate system of the imaging device and the coordinates of the intersection point of the laser range finder in the camera coordinate system and the imaging plane.
2. The method of claim 1, wherein the computing unit computes spatial coordinates of each of the laser spot center points on an imaging plane of the imaging device based on the imaging of the laser spots comprises:
the calculation unit calculates the pixel coordinates of the central point of each laser spot in the imaging according to the imaging of the laser spot;
the calculation unit calculates a plane equation of an imaging plane according to the focal length and the imaging principle of the imaging device;
and the calculation unit calculates and obtains the spatial coordinates of each laser spot center point on the imaging plane according to the pixel coordinates of each laser spot center point in the imaging and the plane equation of the imaging plane.
3. A measuring system is characterized by comprising a first laser range finder, a second laser range finder, a third laser range finder, an imaging device and a calculating unit, wherein an optical axis of the first laser range finder, an optical axis of the second laser range finder and an optical axis of the third laser range finder are not parallel to each other and do not intersect at the same point in front of the imaging device, and a sighting axis of the imaging device, the optical axis of the first laser range finder, the optical axis of the second laser range finder and the optical axis of the third laser range finder point to the front of equipment;
and the calculation unit is used for determining the laser emitting point coordinates and linear equation of the first laser distance meter, the laser emitting point coordinates and linear equation of the second laser distance meter and the laser emitting point coordinates and linear equation of the third laser distance meter according to the method of any one of claims 1-2;
and the calculation unit is further adapted to mark the position of the laser spot landing point according to the method of claim 1.
4. The measurement system of claim 3, wherein the first laser range finder, the second laser range finder, and the third laser range finder are positioned in a delta pattern.
5. The measurement system of claim 3, wherein the imaging device is positioned in delta with the first laser range finder and the second laser range finder.
6. The measurement system of claim 3, further comprising a remote communication device communicatively coupled to the imaging device for receiving real-time video frames transmitted by the imaging device.
7. The measurement system of claim 3, further comprising a pan and tilt head, the pan and tilt head being rotationally coupled to the imaging device;
and the holder further comprises an angle measuring instrument, and the angle measuring instrument is used for measuring the rotation angle of the imaging device.
8. A spatial measurement method applied to the measurement system according to any one of claims 3 to 7, the method comprising:
the imaging device is aligned to a target plane, and a laser drop point of the first laser range finder, a laser drop point of the second laser range finder and a laser drop point of the third laser range finder are all positioned on the target plane;
the imaging device shoots and generates an image of the target plane, and the laser distance of the first laser range finder, the laser distance of the second laser range finder and the laser distance of the third laser range finder are respectively obtained;
the calculation unit calculates the projection coordinate of the target point of the target plane in a camera coordinate system according to the imaging of the target plane, the laser distance of the first laser range finder, the laser emission point coordinate and linear equation, the laser distance of the second laser range finder, the laser emission point coordinate and linear equation, the laser distance of the third laser range finder, the laser emission point coordinate and linear equation;
and the computing unit performs space measurement on the target plane according to the projection coordinates of the target point in a camera coordinate system.
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