CN114636386A - Angle measuring method, device, system and computer readable storage medium - Google Patents
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Abstract
The invention belongs to the technical field of aerospace device measurement, and relates to an angle measurement method, an angle measurement device, an angle measurement system and a computer readable storage medium. The angle measuring method comprises the following steps: acquiring to-be-detected images of a plurality of to-be-detected objects through a double-vision image acquisition module; acquiring a space point position according to an image to be detected, and establishing a space coordinate; and acquiring the angle relation information among the multiple objects to be detected according to the space coordinates. Therefore, the invention can complete shooting through the double-vision image acquisition module, and can correspondingly acquire the angle relation of the object to be detected, and has low cost and high efficiency. And because the measuring object does not need to be aimed, the camera only needs to be shot facing the measuring object, and the measuring difficulty is low. In addition, only the double-vision image acquisition module is needed for acquisition, so that in the measurement process, the vibration of the environment and the like have no influence on the measurement process, the photographing action is completed in a moment, the interference of the environment is avoided, and the environment adaptability is high.
Description
Technical Field
The invention belongs to the technical field of aerospace device measurement, and particularly relates to an angle measurement method, an angle measurement device, an angle measurement system and a computer readable storage medium.
Background
Currently, a spacecraft is provided with a device or a system related to the installation angle of a measuring device, and mainly depends on an optical theodolite system, a laser tracker, a three-coordinate measuring instrument and the like. The optical theodolite system uses a plurality of theodolites for matching, each theodolite aims at one direction at first, then the coordinate relation between the theodolites is established, and the angle relation measurement between two devices and between the devices and the structure is completed through the calculation of the space relation. The laser tracking measuring system is characterized in that a reflector is arranged on a target point, laser emitted by a tracking head is emitted to the reflector and then returns to the tracking head, and when the target moves, the tracking head adjusts the direction of a light beam to aim at the target. Meanwhile, the return beam is received by the detection system and used for measuring and calculating the space position of the target. The three-coordinate measuring instrument is used for calculating the spatial relationship between the surfaces through the contact type building surface.
However, the prior art measurement method has the following disadvantages: 1) the efficiency is low, and much time is consumed for system building and measuring point capturing; 2) the measuring instrument is expensive; 3) the requirement on the stability of the environment is high. How to overcome the above difficulties is a technical problem to be solved urgently by the technical personnel in the field.
In view of the above problems, those skilled in the art have sought solutions.
The foregoing description is provided for general background information and is not admitted to be prior art.
Disclosure of Invention
The technical problem solved by the invention is that in the prior art, the technical scheme aiming at the installation angle of the spacecraft measurement equipment mainly depends on an optical theodolite system, a laser tracker, a three-coordinate measuring instrument and the like, but the prior art simultaneously has the following defects: 1) the efficiency is low, and much time is consumed for system building and measuring point capturing; 2) the measuring instrument is expensive; 3) the requirement on the stability of the environment is high. In order to overcome the technical problems, the invention provides an angle measuring method, an angle measuring device, an angle measuring system and a computer readable storage medium, which can complete shooting through a double-vision image acquisition module, can correspondingly acquire the angle relation of an object to be measured, and have low cost and high efficiency. And because the measuring object does not need to be aimed, the camera only needs to be shot facing the measuring object, and the measuring difficulty is low. In addition, only the double-vision image acquisition module is needed for acquisition, so that in the measurement process, the vibration of the environment and the like have no influence on the measurement process, the photographing action is completed in a moment, the interference of the environment is avoided, and the environment adaptability is high.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
the invention provides an angle measuring method, which comprises the following steps: acquiring to-be-detected images of a plurality of to-be-detected objects through a double-vision image acquisition module; acquiring a space point position according to an image to be detected, and establishing a space coordinate; and acquiring the angle relation information among the multiple objects to be detected according to the space coordinates.
Furthermore, the dual-vision image acquisition module comprises two image acquisition devices; in the step of obtaining the image to be measured of the object to be measured through the double-vision image acquisition module, include: and respectively acquiring an image to be detected for each object to be detected through two image acquisition devices.
Further, before the step of acquiring the image to be detected of the object to be detected by the dual-vision image acquisition module, the method includes: and the double-vision image acquisition module is calibrated through the image calibration module.
Further, the step of obtaining a spatial point location according to the image to be measured and establishing a spatial coordinate includes: acquiring a common angular point on an object to be detected as a space point through an image to be detected; obtaining angular position information of the spatial point, wherein the angular position information comprises: an elevation angle and a correction position angle; and respectively establishing space coordinates for the object to be detected by a two-dimensional to three-dimensional method according to the angular position information.
Further, the step of obtaining the information of the angular relationship between the plurality of objects to be measured according to the spatial coordinates includes: and calculating and acquiring the angle relation information among the multiple objects to be measured in a vector cosine mode according to the space points.
The invention also provides an angle measuring device, which comprises a processor and a memory: the processor is adapted to execute a computer program stored in the memory to implement the steps of the angle measurement method as described above.
The invention also provides an angle measuring system, which comprises a double-vision image acquisition module and an angle measuring device: the double-vision image acquisition module is used for acquiring an image to be measured of an object to be measured and sending the image to be measured to the angle measurement device; the angle measuring device is used for acquiring an image to be measured, acquiring a space point position according to the image to be measured, establishing a space coordinate and acquiring angle relation information among a plurality of objects to be measured according to the space coordinate.
Further, in the above-mentioned device installation angle measuring system, the dual-vision image acquisition module includes two image acquisition devices; the step of acquiring the image to be measured of the object to be measured includes: and respectively acquiring an image to be measured for each object to be measured through the two image acquisition devices, and sending the image to be measured to the angle measurement device.
Furthermore, in the above-mentioned equipment installation angle measuring system, the equipment installation angle measuring system further includes an image calibration module; and the image calibration module is just arranged in front of the double-vision image acquisition module and is used for controlling the double-vision image acquisition module to calibrate by the angle measurement device before acquiring the image to be measured.
The invention also provides a computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the angle measurement method as described above.
The invention also provides an angle measuring method, an angle measuring device, an angle measuring system and a computer readable storage medium. The angle measuring method comprises the following steps: acquiring to-be-detected images of a plurality of to-be-detected objects through a double-vision image acquisition module; acquiring a space point position according to an image to be detected, and establishing a space coordinate; and acquiring the angle relation information among the multiple objects to be detected according to the space coordinates. Therefore, the invention can complete shooting through the double-vision image acquisition module, and can correspondingly acquire the angle relation of the object to be detected, and has low cost and high efficiency. And because the measuring object does not need to be aimed, the camera only needs to be shot towards the measuring object, and the measuring difficulty is low. In addition, only the double-vision image acquisition module is needed for acquisition, so that in the measurement process, the vibration of the environment and the like have no influence on the measurement process, the photographing action is completed in a moment, the interference of the environment is avoided, and the environment adaptability is high. In addition, further, the angle measurement method provided in an embodiment of the present invention can further obtain a corresponding image to be measured for each image to be measured through two image acquisition devices in the dual-vision image acquisition module, so that a coordinate system can be accurately established for determining an angle relationship between objects to be measured. Simultaneously, before the image to be detected is shot and acquired, the double-vision image acquisition module is calibrated through the image calibration module, so that the accuracy of data is guaranteed, and the requirement of high accuracy is met.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following preferred embodiments are specifically described in detail with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic flow chart of an angle measuring method according to a first embodiment of the present invention;
FIG. 2 is a schematic flow chart of an angle measurement method according to a second embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a calculation principle of an elevation angle of a point on an image according to a second embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a principle of calculating a deflection angle of a point on an image according to a second embodiment of the present invention;
FIG. 5 is a schematic flow chart of an angle measuring method according to a third embodiment of the present invention;
fig. 6 is a schematic view of an application scenario provided in the third embodiment of the present invention;
fig. 7 is a schematic diagram of a two-dimensional to three-dimensional computing principle provided by a third embodiment of the present invention;
FIG. 8 is a schematic diagram of a relationship between coordinate systems according to a third embodiment of the present invention;
fig. 9 is a schematic structural diagram of an angle measuring device according to a fourth embodiment of the present invention;
fig. 10 is a schematic structural diagram of an angle measuring system according to a fifth embodiment of the present invention;
fig. 11 is an exploded view of a dual image acquisition module according to a fifth embodiment of the present invention;
fig. 12 is a schematic structural diagram of an image calibration module according to a fifth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiments of the present invention will be described in detail with reference to the accompanying drawings.
First embodiment
Fig. 1 is a schematic flow chart according to a first embodiment of the present invention. For a clear description of the angle measurement method provided by the first embodiment of the present invention, please refer to fig. 1.
The angle measurement method provided by the invention is preferably applied to a spacecraft and used for measuring the angle relation among equipment on the spacecraft, thereby realizing the technical effects of high efficiency, low cost and high stability. Specifically, the method comprises the following steps:
step S1: and acquiring to-be-detected images of a plurality of to-be-detected objects through the double-vision image acquisition module.
In an embodiment, the dual-vision image capturing module may be a camera device installed on a spacecraft device such as a launch vehicle or a satellite, and is configured to capture an image to be measured of an object to be measured. The image acquisition of the object to be detected can be realized only by the double-vision image acquisition module so as to analyze the angle relation between the objects to be detected, thereby realizing the technical effects of low cost and high efficiency. Meanwhile, the acquisition is finished in a moment, so that the acquisition is slightly influenced by the space environment, the vibration of a spacecraft and the like, and the anti-interference performance is extremely high. Moreover, it can be understood that, because the angle relationship between the objects to be measured is obtained, the number of the objects to be measured is at least two, that is, the images to be measured of the objects to be measured and the images to be measured are obtained.
In one embodiment, the dual-vision image capturing module includes two image capturing devices; in the step of obtaining the image to be measured of the object to be measured through the double-vision image acquisition module, include: and respectively acquiring an image to be detected for each object to be detected through two image acquisition devices.
In an embodiment, for the dual-vision image capturing module, it preferably includes two image capturing devices, that is, two cameras are used to capture an image to be measured of each object to be measured, and each object to be measured is captured by the two image capturing devices, and at least two images obtained by the two image capturing devices are obtained for one object to be measured. In particular, for the installation of the two image capturing devices, it is preferable to arrange the two image capturing devices in the same direction side by side, and for the specific structure of the dual visual image capturing module and the image capturing device, which will be described in detail later, it will not be expanded here.
In one embodiment, at step S1: before the step of obtaining the images to be measured of a plurality of objects to be measured through the double-vision image acquisition module, the method comprises the following steps: and the double-vision image acquisition module is calibrated through the image calibration module.
In an embodiment, before the dual-vision image acquisition module acquires the image to be measured, the dual-vision image acquisition module may be controlled to calibrate, so as to ensure the correctness of the data. Specifically, the participation of the image calibration module is required to realize, and specifically, the calibration process will be detailed later, which is not expanded here.
Step S2: and acquiring a space point location according to the image to be detected, and establishing a space coordinate.
In an embodiment, before obtaining the angular relationship information, the object to be measured needs to be analyzed, so as to determine a spatial relationship between the two, and determine the angular relationship information according to the spatial relationship. The process of determining the angular relationship may be accomplished by establishing spatial coordinates.
In one embodiment, at step S2: the method comprises the following steps of obtaining a space point position according to an image to be detected and establishing a space coordinate: acquiring a common angular point on an object to be detected as a space point through an image to be detected; obtaining angular position information of the spatial point, wherein the angular position information comprises: an elevation angle and a correction position angle; and respectively establishing space coordinates for the object to be detected by a two-dimensional to three-dimensional method according to the angular position information.
In an embodiment, a plurality of common corner points visible to a cube mirror on an object to be detected may be sequentially picked up as spatial point locations according to an image to be detected through image analysis and identification, wherein preferably, each image acquisition device acquires 4 spatial point locations for each object to be detected. And according to the calibration data obtained by the calibrated image acquisition device, respectively obtaining the angular position information of each spatial position point, wherein the angular position information comprises: an elevation angle and a modified position angle. It is noted that for obtaining the angular position information, the corresponding analysis parameters can be obtained during calibration. And then calculating the two-dimensional points of the 4 space point positions on the image to be detected in a two-dimensional to three-dimensional mode to obtain corresponding three-dimensional points. Because each object to be measured has four three-dimensional space point locations, a coordinate system can be established for the corresponding object to be measured according to the four space point locations, namely each object to be measured has own corresponding space coordinate.
Step S3: and acquiring the angle relation information among the multiple objects to be detected according to the space coordinates.
In one embodiment, at step S3: the step of obtaining the information of the angle relationship among the multiple objects to be measured according to the space coordinates comprises the following steps: and calculating and acquiring the angle relation information among the multiple objects to be measured in a vector cosine mode according to the space points.
In an embodiment, after the spatial coordinate system of each object to be measured is determined, angle relationship information between any number of objects to be measured is acquired, and then the coordinate system angles of two coordinate systems corresponding to the two objects to be measured can be calculated in a vector cosine manner, and the included angle between the two coordinate systems is solved, so that the installation angle relationship between the devices to be measured is determined. Furthermore, the angle relation information among a plurality of objects to be detected can be obtained in a pairwise matching mode.
The angle measuring method provided by the first embodiment of the invention comprises the following steps: step S1: acquiring to-be-detected images of a plurality of to-be-detected objects through a double-vision image acquisition module; step S2: acquiring a space point position according to an image to be detected, and establishing a space coordinate; step S3: and acquiring the angle relation information among the multiple objects to be detected according to the space coordinates. Therefore, the invention can complete shooting through the double-vision image acquisition module, and can correspondingly acquire the angle relation of the object to be detected, and has low cost and high efficiency. And because the measuring object does not need to be aimed, the camera only needs to be shot facing the measuring object, and the measuring difficulty is low. In addition, only the double-vision image acquisition module is needed for acquisition, so that in the measurement process, the vibration of the environment and the like have no influence on the measurement process, the photographing action is completed in a moment, the interference of the environment is avoided, and the environment adaptability is high. Furthermore, in the angle measurement method provided in an embodiment of the present invention, two image acquisition devices in the dual-vision image acquisition module can be used to respectively acquire a corresponding image to be measured for each image to be measured, so that a coordinate system can be accurately established for determining an angle relationship between objects to be measured. Simultaneously, before the image to be detected is shot and acquired, the double-vision image acquisition module is calibrated through the image calibration module, so that the accuracy of data is guaranteed, and the requirement of high accuracy is met. Second embodiment
FIG. 2 is a schematic flow chart of an angle measurement method according to a second embodiment of the present invention; FIG. 3 is a schematic diagram illustrating a calculation principle of an elevation angle of a point on an image according to a second embodiment of the present invention; fig. 4 is a schematic diagram illustrating a principle of calculating a deflection angle of a point on an image according to a second embodiment of the present invention. For a clear description of the angle measurement method provided in the second embodiment of the present invention, please refer to fig. 1 to 4.
The angle measurement method provided by the second embodiment of the present invention is used for calibrating a dual-vision image acquisition module, and specifically includes the following steps:
step S21: and acquiring a calibration image of the image calibration module through the double-vision image acquisition module.
In one embodiment, the image calibration module may be placed directly opposite the dual vision image acquisition module when performing the calibration process. The dual-vision image acquisition module may include two image acquisition devices, specifically, cameras. In one embodiment, during the calibration process, the image calibration module may be placed opposite to one camera of the dual-vision image capturing module, for example, the camera a, so that the calibration surface of the image calibration module is parallel to the mounting surface of the camera a, and specifically, the schematic diagram may refer to fig. 3, where various parameters will be described in detail later. Specifically, the image calibration module comprises a group of equidistant square scribed lines, a positive cross scribed line and an oblique cross scribed line, and provides a marker for calibrating the image analysis parameters of the dual-vision image acquisition module, so as to correct the analysis parameters of the image shot by the dual-vision image acquisition module. Then, a calibration image of the image calibration module is acquired by the camera a, and preferably, the reticle center of the calibration image is at the positive center of the calibration image, and the acquired calibration image can be referred to fig. 4.
Step S22: and calibrating the double-vision image acquisition module according to the calibration image.
In one embodiment, referring to the schematic diagram of the calculation principle of the height angle of the point on the image provided in fig. 3, the distance between the camera a and the calibration surface of the image calibration module is d0a. Referring again to FIGS. 3 and 4, the point P on the reticle at the longitudinal axis of the panel on the calibration image is arbitrarily chosen0a(xp0a,yp0a) Point P on the panel0aDistance l from the center of the panel0a. Then, with the center of the calibration image as the origin, the transverse right as the + X axis and the longitudinal direction as the + Y axis, an arbitrary point P is determined in the image coordinate system of the camera aa(xpa,ypa) And calculating an arbitrary point PaAngle of elevation alphaaWherein point PaImage distance to image center point is laThe relationship between the two can be obtained by the following formula (1):
further, the deflection angle β of the camera a image coordinate system + Y axis with respect to the panel longitudinal axis is calculated by the formula (2)0a：
Then, the point P in the coordinate system of the camera a image is corrected according to the formula (3)aAngle of position betaa'(PaAngle between the line connecting the center point of the calibration image and the longitudinal axis of the panel, refer specifically to fig. 4):
it can be understood that, since the dual vision image capturing module includes two image capturing devices, i.e., the camera a and the camera b, the calibration image obtained also includes two calibration images. Therefore, an image coordinate system established by a calibration image acquired by the other camera b can be obtained in the calibration process, and similarly, an arbitrary point P in the image coordinate system of the other camera b can be obtained according to the formula (4)b(xpb,ypb) Corrected position angle beta ofb′。
In particular, beta therein0bThe calculation is obtained through formula (5):
in an embodiment, after the calibration is completed, the correction calibration of the parameters for acquiring the image to be measured by the image acquisition device for image processing is obtained, the image analysis parameters for determining the spatial relationship of the object to be measured by the dual-vision image acquisition module are obtained, the measurement accuracy is ensured, and the cushion and preparation work is performed for subsequently determining the spatial point position and establishing the spatial coordinate.
The angle measuring method provided by the second embodiment of the invention comprises the following steps: step S21: acquiring a calibration image of an image calibration module through a double-vision image acquisition module; step S22: and calibrating the double-vision image acquisition module according to the calibration image. Therefore, each image acquisition device in the dual-vision image acquisition module can be calibrated before an object to be measured is measured, so that analysis parameters for analyzing images are determined, the measurement accuracy is ensured, and the work of laying and preparing is performed for subsequently determining space point positions and establishing space coordinates.
Third embodiment
FIG. 5 is a schematic flow chart of an angle measuring method according to a third embodiment of the present invention; fig. 6 is a schematic view of an application scenario provided in the third embodiment of the present invention; FIG. 7 is a schematic diagram illustrating a two-dimensional to three-dimensional computing principle according to a third embodiment of the present invention; fig. 8 is a schematic diagram of a relationship of a coordinate system according to a third embodiment of the present invention. For a clear description of the angle measurement method provided by the third embodiment of the present invention, please refer to fig. 1, 5 to 8.
The angle measurement method provided by the third embodiment of the present invention shows how to obtain the angle relationship information between the objects to be measured in a vector cosine manner. Specifically, for the present embodiment, reference is made to fig. 6, and fig. 6 is a schematic view of an application scenario provided by a third embodiment of the present invention. The system includes a dual-vision image acquisition module 100 and two objects to be measured 105a and 105 b. It is understood that the two objects to be measured provided in this embodiment are merely illustrative of the technology of the embodiment and are not limited thereto, and there may be an infinite number of objects to be measured in practice. The method for determining the relationship between the objects to be detected preferably includes the following steps:
step S31: and acquiring to-be-detected images of a plurality of to-be-detected objects.
In one embodiment, the acquisition is preferably performed by the dual visual image capture module 100. The dual-vision image acquisition module 100 may be a camera device installed on a spacecraft device such as a launch vehicle or a satellite, and is configured to capture an image to be measured of an object to be measured. The image acquisition of the object to be detected can be realized only by the dual-vision image acquisition module 100, so as to analyze the angle relationship between the objects to be detected, thereby realizing the technical effects of low cost and high efficiency. Meanwhile, the acquisition is finished in a moment, so that the acquisition is slightly influenced by the space environment, the vibration of a spacecraft and the like, and the anti-interference performance is extremely high. Moreover, it can be understood that, because the present invention obtains the angle relationship between the objects to be measured, the number of the objects to be measured is at least two, such as the two objects to be measured 105a and 105b in the application scene of the present embodiment, that is, the obtained image of each object to be measured is the respective image to be measured.
In an embodiment, the dual-vision image capturing module 100 preferably includes two image capturing devices, that is, two cameras, the camera a and the camera b, respectively capture an image to be measured for each object to be measured, and each object to be measured is captured by the two image capturing devices, and one object to be measured has at least two images captured by the two image capturing devices. That is, the objects 105a and 105b to be measured have at least two images to be measured, respectively.
Step S32: and acquiring a space point position according to the image to be detected, and respectively establishing space coordinates for the object to be detected by a two-dimensional to three-dimensional conversion method according to the angular position information of the space point position.
In an embodiment, a plurality of common corner points visible by the cube mirrors on the objects to be measured 105a and 105b may be sequentially picked up as spatial points according to the image to be measured by image analysis and recognition. Wherein preferably each camera acquires 4 spatial positions for each object to be measured. Since there are two cameras in this embodiment: the camera a and the camera b are respectively used for two objects to be measured: the object to be measured 105a and the object to be measured 105b acquire one image to be measured, and one object to be measured in one image to be measured has 4 points. Thus, 8 pairs of 16 spatial points are finally obtained. For example, the spatial point location in the image to be measured captured by the camera a includes: paA0、PaA1、PaA2、PaA3、PaB0、PaB1、PaB2、PaB3(ii) a And the spatial point positions in the image to be measured of the camera b comprise: pbA0、PbA1、PbA2、PbA3、PbB0、PbB1、PbB2、PbB3。
In an implementation manner, after calibration is performed according to the angle measurement method provided by the second embodiment of the present invention, the angular position information of the 16-space point in the two camera image coordinate systems can be calculated, which includes an elevation angle and a corrected position angle: altitude angle alphaaA0～αaA3、αaB0～αaB3，αbA0～αbA3、αbB0～αbB3(ii) a Correcting the position angle betaaA0′～βaA3′、βaB0′～βaB3′，βbA0′～βbA3′、βbB0′～βbB3'. Specifically, the obtaining process may refer to a process of performing calibration in the angle measurement method provided in the second embodiment of the present invention, that is, a calculation process of equations (1) to (5), which is not described herein again.
In an implementation manner, referring to fig. 7, for a two-dimensional to three-dimensional conversion manner, fig. 7 is a diagram of a two-dimensional conversion manner provided by a third embodiment of the present inventionTurning to a three-dimensional calculation principle schematic diagram. Specifically, the two-dimensional points on the 8 pairs of images are calculated to obtain 8 three-dimensional points P in the image coordinate system of the camera aA0～PA3、PB0～PB3With PaA0And PbA0Calculating PA0For example, two-dimensional points are converted into three-dimensional points by equations (6), (7) and (8), respectively, where d is the distance between the center points of camera a and camera b:
then, the position of each spatial point location in the three-dimensional coordinate is obtained for each point in a two-dimensional to three-dimensional manner, so that a coordinate system of each object to be measured can be established corresponding to 4 spatial point locations of each object to be measured, specifically, refer to fig. 8, where fig. 8 is a schematic diagram of a relationship between coordinate systems provided by the third embodiment of the present invention. Wherein the coordinate system of the space coordinate of the object 105a is PA0-PA1PA2PA3(ii) a Coordinate system P of object to be measured 105bB0-PB1PB2PB3。
Step S33: and calculating and acquiring the angle relation information among the multiple objects to be measured in a vector cosine mode according to the space coordinates.
In an embodiment, the data analysis program calculates the coordinate system angles of the object to be measured 105a and the object to be measured 105b through vector cosine, and solves the included angle between the two coordinate systems, so as to obtain the installation angle relationship between the object to be measured 105a and the object to be measured 105b, that is, the angle relationship information between the two. Wherein the angle cosine matrix is:
the angle measuring method provided by the third embodiment of the present invention includes the following steps: step S31: acquiring to-be-detected images of a plurality of to-be-detected objects; step S32: acquiring a space point position according to an image to be detected, and respectively establishing space coordinates for an object to be detected through a two-dimensional to three-dimensional conversion method according to the angular position information of the space point position; step S33: and calculating and acquiring the angle relation information among the multiple objects to be detected in a vector cosine mode according to the space coordinates. Therefore, the invention can complete shooting through the double-vision image acquisition module, and can correspondingly acquire the angle relation of the object to be detected, and has low cost and high efficiency. And because the measuring object does not need to be aimed, the camera only needs to be shot towards the measuring object, and the measuring difficulty is low. In addition, only the double-vision image acquisition module is needed for acquisition, so that in the measurement process, the vibration of the environment and the like have no influence on the measurement process, the photographing action is completed in a moment, the interference of the environment is avoided, and the environment adaptability is high.
Fourth embodiment
Fig. 9 is a schematic structural diagram of an angle measuring apparatus according to a fourth embodiment of the present invention. For a clear description of the angle measuring device 110 according to the fourth embodiment of the present invention, please refer to fig. 1, fig. 2, fig. 5 and fig. 9.
An angle measuring apparatus 110 according to a fourth embodiment of the present invention includes: a processor a101 and a memory a201, wherein the processor a101 is configured to execute a computer program a6 stored in the memory a201 to implement the steps of the angle measurement method as described in the first embodiment, the second embodiment, or the third embodiment.
In an embodiment, the angle measuring apparatus 110 provided in this embodiment includes at least one processor a101 and at least one memory a 201. Wherein, at least one processor A101 may be referred to as a processing unit A1, and at least one memory A201 may be referred to as a memory unit A2. Specifically, the storage unit a2 stores a computer program A6, which, when executed by the processing unit a1, causes the angle measurement apparatus 110 provided by the present embodiment to implement the steps of the angle measurement method as described in the first embodiment, the second embodiment, or the third embodiment. For example, as shown in FIG. 1: step S1: acquiring to-be-detected images of a plurality of to-be-detected objects through a double-vision image acquisition module; step S2: acquiring a space point position according to an image to be detected, and establishing a space coordinate; step S3: and acquiring the angle relation information among the multiple objects to be detected according to the space coordinates.
In one embodiment, the angle measuring apparatus 110 provided in the present embodiment may include a plurality of memories a201 (simply referred to as a storage unit A2).
Storage unit a2 may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. Among them, the nonvolatile Memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a magnetic random access Memory (FRAM), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical disk, or a Compact Disc Read-Only Memory (CD-ROM); the magnetic surface storage may be disk storage or tape storage. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of illustration and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Enhanced Synchronous Dynamic Random Access Memory (Enhanced DRAM), Synchronous Dynamic Random Access Memory (SLDRAM), Direct Memory (DRmb Access), and Random Access Memory (DRAM). The memory unit a2 described in the embodiments of the present invention is intended to comprise, without being limited to, these and any other suitable types of memory.
In one embodiment, the angle measuring device 110 in this embodiment may further include a communication interface (e.g., I/O interface a4) that may be used to communicate with an external device.
In an embodiment, the angle measuring device 110 provided in this embodiment may further include a communication device a 5.
In one embodiment, the angle measuring device 110 needs to acquire the image to be measured acquired by the dual-vision image acquisition module 100, and the angle measuring device 110 and the dual-vision image acquisition module 100 need to be associated for interacting with data of the image to be measured. For example, the dual visual image capturing module 100 is disposed on a launch vehicle, and the angle measuring device 110 may be also disposed on the launch vehicle, or may be disposed on a ground station, so that the angle measuring device 110 and the dual visual image capturing module 100 need to be associated through wireless and/or wired communication, and the association needs to be achieved through the participation of the I/O interface a4 and/or the communication device a5, which will be described in detail later.
In one embodiment, the angle measuring device 110 and the dual visual image capturing module 100 are connected via wired communication, so that both can be mounted on the spacecraft. If the connection is made in a wireless communication manner, the dual-vision image acquisition module 100 may be disposed on the spacecraft, and the angle measurement device 110 may be a ground station or other device that is connected to the dual-vision image acquisition module 100 in a wireless communication manner, so that relevant personnel can obtain information about an angle relationship between devices serving as objects to be measured on the spacecraft at the ground station. That is, the specific form of the angle measuring device 110 may be a computing device on a spacecraft, or a device such as a computer on a ground station, and is not particularly limited.
The angle measuring device 110 provided by the fourth embodiment of the present invention includes a memory a101 and a processor a201, and the processor a101 is configured to execute a computer program a6 stored in the memory a201 to implement the steps of the angle measuring method described in the first embodiment, the second embodiment, or the third embodiment, so that the angle measuring device 110 provided by this embodiment can complete shooting through the dual visual image capturing modules, that is, can correspondingly obtain the angle relationship of the object to be measured, and is low in cost and high in efficiency. And because the measuring object does not need to be aimed, the camera only needs to be shot facing the measuring object, and the measuring difficulty is low. In addition, only the double-vision image acquisition module is needed for acquisition, so that in the measurement process, the vibration of the environment and the like have no influence on the measurement process, the photographing action is completed in a moment, the interference of the environment is avoided, and the environment adaptability is high. In addition, further, the angle measurement method provided in an embodiment of the present invention can further obtain a corresponding image to be measured for each image to be measured through two image acquisition devices in the dual-vision image acquisition module, so that a coordinate system can be accurately established for determining an angle relationship between objects to be measured. Simultaneously, before the image to be detected is shot and obtained, the double-vision image acquisition module is calibrated through the image calibration module, so that the accuracy of data is ensured, and the requirement of high accuracy is met.
The fourth embodiment of the present invention also provides a computer-readable storage medium, which stores a computer program a6, the computer program a6 implementing the steps of the angle measurement method as described in the first, second or third embodiment when executed by the processor a 101. In an embodiment, the computer readable storage medium provided by the embodiment may include any entity or device capable of carrying computer program code, a recording medium, such as ROM, RAM, magnetic disk, optical disk, flash memory, and the like.
Technical effects that can be achieved when the computer program a6 stored in the computer-readable storage medium provided by the fourth embodiment of the present invention is executed by the processor a101 have been described in detail in the foregoing, and specific reference may be made to the foregoing, and therefore, the details are not repeated herein.
Fifth embodiment
Fig. 10 is a schematic structural diagram of an angle measuring system according to a fifth embodiment of the present invention; fig. 11 is an exploded view of a dual image acquisition module according to a fifth embodiment of the present invention; fig. 12 is a schematic structural diagram of an image calibration module according to a fifth embodiment of the present invention. For a clear description of the angle measuring system provided in the fifth embodiment of the present invention, please refer to fig. 1 to 12.
The fifth embodiment of the present invention provides an angle measuring system, which includes a dual-vision image capturing module 100 and an angle measuring device 110.
In one embodiment, the dual-vision image capturing module 100 is configured to capture an image of an object to be measured and send the image to the angle measuring device 110.
In one embodiment, the dual-vision image capturing module 100 includes two image capturing devices; the step of acquiring the image to be measured of the object to be measured includes: and respectively acquiring an image to be measured for each object to be measured through the two image acquisition devices, and sending the image to be measured to the angle measurement device.
In an embodiment, referring to fig. 11, a structure of a dual-vision image capturing module 100 may be shown, where fig. 11 is an exploded view of a structure of a dual-vision image capturing module according to a fifth embodiment of the present invention. As shown, the dual vision image capturing module 100 includes a base 101c, a first image capturing device 101a, a second image capturing device 101b, and a cover 101 d. The base 101c enables the dual-vision image acquisition module 100 to be installed on space equipment such as a launch vehicle or a satellite, so that the first image acquisition device 101a and the second image acquisition device 101b can stably shoot an image to be detected of an object to be detected, and the cover plate 101d can be used for covering the first image acquisition device 101a and the second image acquisition device 101b to play a certain protection role. In addition, can install through the mode of side by side syntropy to first image acquisition device 101a and second image acquisition device 101b to guarantee can both carry out image acquisition to the object to be measured simultaneously.
In one embodiment, the angle measuring device 110 is configured to obtain an image to be measured, obtain a spatial point location according to the image to be measured, establish a spatial coordinate, and obtain information of an angular relationship between a plurality of objects to be measured according to the spatial coordinate.
In an embodiment, how to obtain the angle relationship information between the objects to be measured according to the images to be measured is described in detail in the angle measuring methods provided in the first embodiment and the third embodiment of the present invention, for example, referring to fig. 5, which includes the following steps: step S31: acquiring to-be-detected images of a plurality of to-be-detected objects; step S32: acquiring a space point position according to an image to be detected, and respectively establishing space coordinates for an object to be detected through a two-dimensional to three-dimensional conversion method according to the angular position information of the space point position; step S33: and calculating and acquiring the angle relation information among the multiple objects to be detected in a vector cosine mode according to the space coordinates. Specifically, please refer to the foregoing, which is not repeated herein.
In an embodiment, the detailed structure of the angle measuring device 110 has been described in detail in the fourth embodiment of the present invention, and reference may be made to the foregoing specifically, and thus, the detailed description is omitted. In addition, since the angle measuring device 110 needs to acquire the image to be measured acquired by the dual-vision image acquisition module 100, the angle measuring device 110 and the dual-vision image acquisition module 100 are associated with each other through a certain communication technology, which may specifically include but not limited to a wired and/or wireless manner. Among the wireless communication technologies, there may be included, but not limited to: global System for Mobile Communication (GSM), Enhanced Mobile Communication (EDGE), wideband Code division multiple Access (W-CDMA), Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), bluetooth, Wireless Fidelity (WiFi) (e.g., IEEE802.11 a, IEEE802.11b, IEEE802.11g, and/or IEEE802.11 n), Voice over internet protocol (VoIP), Worldwide Interoperability for Microwave Access (Wi-Max), other suitable protocols for instant messaging and short message Communication, and any other suitable protocols including those currently under development.
In one embodiment, the angle measuring device 110 and the dual visual image capturing module 100 are connected via wired communication, so that both can be mounted on the spacecraft. If the connection is made in a wireless communication manner, the dual-vision image acquisition module 100 may be disposed on the spacecraft, and the angle measurement device 110 may be a ground station or other device that is connected to the dual-vision image acquisition module 100 in a wireless communication manner, so that relevant personnel can obtain information about an angle relationship between devices serving as objects to be measured on the spacecraft at the ground station.
In an embodiment, in an apparatus installation angle measurement system provided in a fifth embodiment of the present invention, the apparatus installation angle measurement system further includes an image calibration module; the image calibration module is disposed right before the dual-vision image acquisition module 100, and is configured to control the dual-vision image acquisition module 100 to perform calibration by the angle measurement device 110 before acquiring the image to be measured.
In one embodiment, for the image calibration module comprising a set of equidistant square scribe lines, regular cross scribe lines, and oblique cross scribe lines, a marker for calibrating the image analysis parameters of the dual-vision image acquisition module 100 is provided for correcting the analysis parameters of the image captured by the dual-vision image acquisition module 100. For a specific heart state of the image calibration module, refer to fig. 12, and fig. 12 is a schematic structural diagram of the image calibration module according to a fifth embodiment of the present invention.
In an embodiment, for a specific implementation process of the angle measurement apparatus 110 controlling the dual-vision image capturing module 100 to perform calibration, reference may be made to the angle measurement method provided in the first embodiment and the second embodiment of the present invention, as shown in fig. 2, which includes the steps of: step S21: acquiring a calibration image of an image calibration module through a double-vision image acquisition module; step S22: and calibrating the double-vision image acquisition module according to the calibration image. Therefore, the description is omitted.
The fifth embodiment of the present invention provides an angle measuring system, which includes a dual-vision image capturing module 100 and an angle measuring device 110. A dual-vision image acquisition module 100, configured to acquire an image to be measured of an object to be measured, and send the image to the angle measurement device 110; the angle measuring device 110 is configured to obtain an image to be measured, obtain a spatial point location according to the image to be measured, establish a spatial coordinate, and obtain information of an angle relationship between multiple objects to be measured according to the spatial coordinate. Therefore, the angle measurement system according to the fifth embodiment of the present invention can implement the steps of the angle measurement method according to the first, second, or third embodiments of the present invention, so that the dual-vision image capturing module 100 can complete capturing, that is, the angle relationship of the object to be measured can be obtained correspondingly, and the system is low in cost and high in efficiency. And because the measuring object does not need to be aimed, the camera only needs to be shot facing the measuring object, and the measuring difficulty is low. In addition, only the dual-vision image acquisition module 100 is needed for acquisition, so that in the measurement process, the vibration of the environment and the like have no influence on the measurement process, the photographing action is completed in a moment, the interference of the environment is avoided, and the environment adaptability is high. Furthermore, the angle measurement system provided in an embodiment of the present invention can further obtain a corresponding image to be measured for each image to be measured through two image capturing devices in the dual-vision image capturing module 100, so that a coordinate system can be accurately established for determining an angle relationship between objects to be measured. Simultaneously, before the image to be detected is shot and acquired, the double-vision image acquisition module is calibrated through the image calibration module, so that the accuracy of data is guaranteed, and the requirement of high accuracy is met.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the recitation of an element by the phrase "comprising an … …" does not exclude the presence of additional like elements in the process, method, article, or apparatus that comprises the element, and further, where similarly-named elements, features, or elements in different embodiments of the disclosure may have the same meaning, or may have different meanings, that particular meaning should be determined by their interpretation in the embodiment or further by context with the embodiment. As used herein, the meaning of "a plurality" or "a plurality" is two or more unless otherwise specified.
It should be understood that, although the steps in the flowcharts in the embodiments of the present application are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, in different orders, and may be performed alternately or at least partially with respect to other steps or sub-steps of other steps.
It will be understood by those skilled in the art that all or part of the steps of implementing the above method embodiments may be implemented by hardware associated with program instructions, and the program may be stored in a computer readable storage medium, and when executed, performs the steps including the above method embodiments. The foregoing storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. An angle measuring method, characterized by comprising the steps of:
acquiring to-be-detected images of a plurality of to-be-detected objects through a double-vision image acquisition module;
acquiring a spatial point position according to the image to be detected, and establishing a spatial coordinate;
and acquiring the angle relation information among the multiple objects to be detected according to the space coordinates.
2. The angle measurement method of claim 1, the dual vision image acquisition module comprising two image acquisition devices;
in the step of obtaining the image to be measured of the object to be measured through the double-vision image acquisition module, the method comprises the following steps:
and respectively acquiring the image to be detected for each object to be detected through the two image acquisition devices.
3. The angle measuring method according to claim 1, wherein the step of acquiring the image of the object to be measured by the dual vision image capturing module comprises:
and calibrating the double-vision image acquisition module through an image calibration module.
4. The angle measurement method according to claim 1, wherein the step of obtaining a spatial point location according to the image to be measured and establishing a spatial coordinate comprises:
acquiring a common angular point on the object to be detected as the space point through the image to be detected;
obtaining angular position information of the spatial point, wherein the angular position information comprises: an elevation angle and a correction position angle;
and respectively establishing the space coordinates for the object to be detected by a two-dimensional to three-dimensional method according to the angular position information.
5. The angle measurement method according to claim 4, wherein the step of obtaining the information of the angular relationship between the plurality of objects to be measured according to the spatial coordinates comprises:
and calculating and acquiring the angle relation information among the multiple objects to be detected in a vector cosine mode according to the space points.
6. An angle measuring device, comprising a processor and a memory:
the processor is adapted to execute a computer program stored in the memory to implement the steps of the angle measurement method of any one of claims 1 to 5.
7. An angle measurement system is characterized by comprising a double-vision image acquisition module and an angle measurement device;
the double-vision image acquisition module is used for acquiring an image to be measured of an object to be measured and sending the image to be measured to the angle measuring device;
the angle measuring device is used for acquiring the image to be measured, acquiring a space point position according to the image to be measured, establishing a space coordinate, and acquiring angle relation information among the plurality of objects to be measured according to the space coordinate.
8. The equipment installation angle measuring system of claim 7, wherein the dual vision image capturing module comprises two image capturing devices;
the step of collecting the image to be measured of the object to be measured includes:
and respectively acquiring the image to be measured for each object to be measured through the two image acquisition devices, and sending the image to be measured to the angle measurement device.
9. The equipment installation angle measurement system of claim 7, further comprising an image calibration module;
the image calibration module is arranged right in front of the double-vision image acquisition module and used for controlling the double-vision image acquisition module to calibrate by the angle measurement device before the image to be measured is acquired.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when being executed by a processor, carries out the steps of the angle measurement method according to any one of claims 1 to 5.
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