CN115655206B - Measurement data joint calculation system and method based on multi-vision displacement measurement equipment - Google Patents
Measurement data joint calculation system and method based on multi-vision displacement measurement equipment Download PDFInfo
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Abstract
The embodiment of the application provides a measurement data joint solution system and method based on multi-vision displacement measurement equipment, the system comprises a first-stage observation station, a plurality of intermediate-stage observation stations and a last-stage observation station which are adjacent and distributed at intervals, wherein: a first immovable reference point is distributed in an observation area of the first-stage observation station, and a second immovable reference point is distributed in an observation area of the last-stage observation station; overlapping observation areas exist between adjacent observation stations, the overlapping observation areas cover overlapped common-view measuring points, and the rest non-overlapping observation areas cover a plurality of visible measuring points; in the observation process, joint measurement is carried out on each observation station from the first immovable reference point to the second immovable reference point, and when the second immovable reference point is determined to be displaced in the observation process and the displacement is larger than a preset limit value, measurement point observation is carried out again. The implementation difficulty and the precision maintaining difficulty are not increased along with the increase of the number of the measuring instruments for simultaneous measurement, so that the visual displacement measuring efficiency can be effectively improved.
Description
Technical Field
The application relates to the technical field of vision measurement, in particular to a measurement data joint calculation system and method based on multi-vision displacement measurement equipment.
Background
The visual measurement method is a method in which a measurement target arranged on a measured object is observed by an imaging device, a change in a pixel of the measurement target with time is measured, and a distance between the target and an observation station is converted into an actual displacement. At present, with the continuous expansion of the application field of vision measurement, the measurement distance of 200m and 300m is not satisfied. For example, in a subway tunnel, operation monitoring requires general survey of the entire tunnel section, which is usually 1km or more, and which has no deployable reference area. To solve this problem, the traditional automatic measuring method is a measuring robot (automatic total station), which is also the most common and widely known technical means. And the adoption of a measuring robot to carry out multi-instrument simultaneous measurement also has common difficulty. In order to guarantee the measurement precision, the number of common subway monitoring project joint measurement instruments is mostly 2-3 unilaterals. The difficulty of implementation and the difficulty of maintaining precision are multiplied when one more instrument is used for simultaneous measurement.
Disclosure of Invention
The embodiment of the application aims to provide a measurement data joint calculation system and method based on multi-vision displacement measurement equipment, and the vision displacement measurement efficiency can be improved.
The embodiment of the application also provides a measurement data joint solution system based on multi-vision displacement measurement equipment, the system comprises a first-stage observation station, a plurality of intermediate-stage observation stations and a last-stage observation station which are adjacent and distributed at intervals, wherein:
a first immovable reference point BM1 is distributed in an observation area of the first-stage observation station, and a second immovable reference point BM2 is distributed in an observation area of the last-stage observation station;
overlapping observation areas exist between adjacent observation stations, the overlapping observation areas cover overlapped common-view points, and the rest non-overlapping observation areas cover a plurality of visible points;
in the observation process, joint measurement is carried out on each observation station from the first immovable reference point BM1 to the second immovable reference point BM2, and when the second immovable reference point BM2 is observed and determined to be displaced and the displacement is greater than a preset limit value, the measurement point observation process is executed again.
In a second aspect, an embodiment of the present application further provides a measurement data joint solution method applied to any one of the systems, where the method includes:
triggering each observation station to jointly measure from the first immovable reference point to the second immovable reference point, and re-executing the observation process of the measurement point when the second immovable reference point is observed and determined to be displaced and the displacement is larger than a preset limit value.
As can be seen from the above, the measurement data joint solution system and method based on multi-vision displacement measurement devices provided in the embodiments of the present application can be applied to measurement over long distances (an ultra long distance is two times or more of an effective measurement distance of a single device), and by arranging multiple stages of observation stations, a reference point of a first stage instrument unit (i.e., a first stage observation station) is a first reference point that is absolutely or considered as motionless, a certain measurement point of a last stage instrument unit (i.e., a last stage observation station) is a second reference point that is absolutely or considered as motionless, and a displacement of a third reference point of an intermediate stage observation station is measured by an upper stage observation station, where the third reference point may be an independent measurement point or a measurement point of an upper stage observation station (i.e., a common view measurement point), and by such an arrangement manner, difficulty in increasing simultaneous measurement of instruments and difficulty in maintaining accuracy are reduced, and visual displacement measurement efficiency is improved. In the observation process, the observation stations are combined to measure the displacement from the first immovable reference point to the second immovable reference point, and whether the second reference point displacement is a closing difference is judged, and the measurement point observation process is executed again when the closing difference is determined to meet the error requirement, so that the observation result is more accurate, and the visual displacement observation accuracy is improved.
Additional features and advantages of the present application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the embodiments of the present application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
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 structural diagram of a measurement data joint solution system based on a multi-vision displacement measurement device according to an embodiment of the present application;
FIG. 2 is a schematic diagram of the displacement of the visible measurement point in the correction area;
fig. 3 is a flowchart of a measurement data joint solution method based on a multi-vision displacement measurement device according to an embodiment of the present application.
Description of the preferred embodiment
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a measurement data joint solution system based on a multi-vision displacement measurement device according to some embodiments of the present disclosure. The system comprises a first-stage observation station, a plurality of intermediate-stage observation stations and a last-stage observation station which are adjacent and distributed at intervals, wherein:
and a first immovable reference point BM1 is distributed in the observation area of the first-stage observation station, and a second immovable reference point BM2 is distributed in the observation area of the last-stage observation station.
Specifically, as shown in fig. 1, a monitoring area is formed between two stationary reference points BM1 and BM2, and BM1 and BM2 are known stationary points, i.e., reference points. The reference point is a standard point in measurement, and is extended to be a starting point of all things.
An overlapped observation area exists between adjacent observation stations, the overlapped observation area covers the overlapped common observation point, and the rest non-overlapped observation areas cover a plurality of visible observation points.
Specifically, the number of the plurality of visual measuring points is not limited, and the visual measuring points are in communication with the observation station. And the measuring points are not limited by any positions, and only the through-vision condition of the observation station is met. In the current embodiment, the common view point can be understood as a turning point which can be used as a reference point of the next observation station, and the displacement of the rest measurement points in the observation area is observed based on the reference point.
In the observation process, joint measurement is carried out on each observation station from the first immovable reference point BM1 to the second immovable reference point BM2, and when the second immovable reference point BM2 is observed and determined to be displaced and the displacement is larger than a preset limit value, the measurement point observation process is executed again.
Specifically, when the BM2 is known as a fixed point, the BM2 displacement measured by the end-stage observation station should be theoretically 0, and if it is not 0, it can be further defined as the closure differencef h . In the present embodiment, based on the closure differencef h When the closure difference is knownf h If the current measurement is larger than the preset limit value, the current measurement is considered to be abandoned, and the joint measurement is carried out again until the closure differencef h And the limitation requirement is met.
As can be seen from the above, the measurement data joint solution system based on the multi-vision displacement measurement device disclosed in the present application can be applied to measurement over long distances (an ultra long distance is two times or more of an effective measurement distance of a single device), and by arranging multiple stages of observation stations, a reference point of a first-stage instrument unit (i.e., a first-stage observation station) is a first reference point that is absolutely or immovable, a certain measurement point of a last-stage instrument unit (i.e., a last-stage observation station) is a second reference point that is absolutely or immovable, a displacement of a third reference point of an intermediate-stage observation station is measured by an upper-stage observation station, where the third reference point may be an independent measurement point or a measurement point of an upper-stage observation station (i.e., a common-view measurement point), and by such an arrangement manner, difficulty in increasing the implementation difficulty and difficulty in maintaining accuracy of the joint measurement instrument is reduced, and visual displacement measurement efficiency is improved. In the observation process, the observation stations are combined to measure the displacement from the first immovable reference point to the second immovable reference point, and whether the second reference point displacement is a closing difference is judged, and the measurement point observation process is executed again when the closing difference is determined to meet the error requirement, so that the observation result is more accurate, and the visual displacement observation accuracy is improved.
In one embodiment, the system includes five adjacent and spaced-apart first-level observers, first-third intermediate-level observers, and last-level observers, wherein: the main optical axes of the observation stations are kept parallel, and the sum of the deviation angles of the main optical axes between two adjacent observation stations is smaller than or equal to a preset angle.
Specifically, the arrangement of the observation stations can be understood with reference to fig. 1, and is not described in detail at present. In the present embodiment, the main optical axis is the central axis in the field of view. In addition, in the present embodiment, the sum of the deviation angles of the main optical axis between two observation stations adjacent to each other in the front-rear direction is set to be not more than 18 。 . The setting of the angle is not unique at present, and the setting is performed according to actual conditions in different embodiments.
In one embodiment, the common visual point and the visual point of the same observation region are located on the same midperpendicular; in the process of joint measurement, the first-level observation station and the last-level observation station use the motionless reference points in the areas as reference points to observe the rest measuring points in the areas; the intermediate observation station takes the common-view measuring points observed by the adjacent observation stations of the previous stage as reference points to observe the other measuring points in the region; in the observation process, the intermediate observation station also carries out reverse translation compensation on the displacement of all the measurement points measured by the intermediate observation station based on the displacement of the common vision measurement point measured by the upper adjacent observation station so as to avoid the occurrence of an observation error.
Specifically, when the intermediate observation station performs reverse translation compensation on the displacement amounts of all the measurement points measured by the intermediate observation station, reference may be made to the following embodiments:
based on FIG. 1, suppose that the observation station 1 measuresObtained TP 1 The vertical displacement of the point is z 0 The vertical displacement of the measuring point group (2 n) measured by the observation station 2 isz 1 、z 2 、z 3 、…z n After the reverse translation compensation, the actual displacement of the measurement point group (2 n) measured by the observation station 2 should be:z 1 +z 0 、z 2 +z 0 、z 3 +z 0 、……、z n +z 0 i.e. the TP will be superimposed on its own measurement basis 1 The vertical displacement of point to avoid the influence that the displacement of observation station self brought.
In one embodiment, in the joint measurement process, the intermediate-stage observation station further corrects the displacement of all the other visible measurement points in the area when the observation station rolls, changes in pitch and azimuth due to the change in pitch and azimuth, based on the principle that when the observation station changes in pitch and azimuth, all the measurement points will change in equal pixels in the field of view.
Illustratively, the observation station 2 corrects the displacement of all the remaining visible measurement points in the area when the TP1 position after the translational correction is used as a reference and the attitude changes of the rolling, pitching and azimuth occur, so as to further avoid the observation error. In addition, corresponding targets can be arranged at each measuring point in advance, so that the displacement of the measuring point in the subsequent observation field range is facilitated, and the distances between different targets and the observation station are different, so that when the pixels of different targets are changed in an equal manner, the actual displacement of different targets is different, and the displacement of different targets is related to the observation distance of the target.
In one embodiment, the displacement of all the other visible measuring points in the area is corrected by the following steps: acquiring first observation distances of all the rest visible measurement points in the areaL n2 And a second observed distance of the target reference pointL tp The distance ratio therebetween; obtaining a first displacement Z of all the other visible measuring points in the area n2 And a second amount of displacement of the target reference pointZ tp (ii) a Combining the distance ratio and the second displacementZ tp By a first displacement amount Z n2 And (4) correcting.
Specifically, the above implementation principle can be understood with reference to fig. 2, and is not specifically described at present.
In one embodiment, the distance ratio and the second displacement are combined by the following formulaZ tp By a first displacement amount Z n2 Correction of (2):
in one embodiment, the preset limit is
Wherein, in the step (A),Lthe total mileage is measured in a joint way;
when the second motionless reference point is observed and determined to be displaced and the displacement is less than or equal to a preset limit value, determining a corresponding leveling value according to the displacement of the second motionless reference point, the number of the observation stations in the joint measurement and the total number of the observation stations by the following formula, and distributing the leveling value to each common vision measuring point and each visual measuring point:
wherein the content of the first and second substances,V i in order to make the difference value equal to the predetermined value,n i the number of observation station levels for the joint measurement,nin order to observe the total number of stations,f h is the displacement of the second motionless reference point.
In particular, the method comprises the following steps of,n i for the number of observation stations in the joint survey, for example, referring to fig. 1, if observation station 1 represents the first stage, the number of observation stations in the current joint surveyn i Is 1; if the observation station 2 is the second stage, the current observation station stage number of the joint measurementn i Is 2。f h The foregoing schematic closure difference. In conjunction with fig. 1, the adjustment value is assigned to each common view point and the visual view point, and the following can be referred to:
suppose that the observation station 1 measures a measurement point set 1n of displacement values
The final displacement result is
；/>
Suppose that the observation station 2 measures a measurement point group 2n of displacement values
The final displacement result is
；
Note that, the measurement point groups 3n, 4n, 5n measured by the observation stations 3, 4, 5, and TP1, TP2, TP3, TP4 are the same as above, and are not described in detail at present.
Referring to fig. 3, the present application discloses a method for jointly calculating measurement data applied to any one of the systems described above, the method including:
and S100, triggering each observation station to jointly measure the first immovable reference point to the second immovable reference point, and re-executing the measurement point observation process when the second immovable reference point is observed and determined to be displaced and the displacement is larger than a preset limit value.
In one embodiment, in step S100, in the process of joint measurement, the method further includes:
and S1000, triggering the head observation station and the tail observation station to observe the rest measuring points in the area by taking the motionless reference points in the area as datum points.
And S1001, triggering the common view point observed by the adjacent observation station at the upper stage of the intermediate stage observation station as a reference point, and observing the rest of the measurement points in the region.
And step S1002, in the observation process, triggering the intermediate observation station to perform reverse translation compensation on the displacement of all the measurement points measured by the intermediate observation station based on the displacement of the common vision measurement point measured by the upper adjacent observation station, so as to avoid the occurrence of an observation error.
In one embodiment, in the step S1002, in the joint measurement process, the method further includes:
triggering the intermediate observation station to take the position of the target reference point subjected to translation correction in the area as a reference, and correcting the displacement of all the other visible measurement points in the area when the observation station rolls, tilts and changes the azimuth angle according to the principle that all the measurement points are in equal pixel change in the field range when the observation station changes the pitch and the azimuth angle.
In one embodiment, the displacement of all the remaining visible measuring points in the area is corrected by the following steps: acquiring first observation distances of all the rest visible measurement points in the areaL n2 And a second observed distance of the target reference pointL tp The distance ratio therebetween; obtaining a first displacement Z of all the other visible measuring points in the area n2 And a second amount of displacement of the target reference pointZ tp (ii) a Combining the distance ratio and the second displacementZ tp By a first displacement amount Z n2 And (4) correcting.
In one embodiment, the distance ratio and the second displacement are combined by the following formulaZ tp By a first displacement amount Z n2 Correction of (2):
in one embodiment, the preset limit is
Wherein, in the step (A),Lthe total mileage is measured in a combined mode; the second motionless reference point is determined to be displaced under observation, andwhen the displacement is smaller than or equal to a preset limit value, determining a corresponding adjustment value according to the displacement of the second motionless reference point, the number of the observation stations in the joint measurement and the total number of the observation stations by the following formula, and distributing the adjustment value to each common visual point and each visual point: />
Wherein the content of the first and second substances,V i in order to make the difference value even,n i the number of observation station series for the joint measurement,nin order to observe the total number of stations,f h is the displacement of the second stationary reference point.
From the above, the measurement data joint calculation method based on the multi-vision displacement measurement device disclosed by the application can be applied to the measurement of an ultra-long distance (the ultra-long distance is two times or more of the effective measurement distance of a single device), and by arranging the multiple stages of observation stations, wherein the reference point of the first-stage instrument unit (i.e. the first-stage observation station) is a first reference point which is absolutely motionless or considered motionless, a certain measurement point of the last-stage instrument unit (i.e. the last-stage observation station) is a second reference point which is absolutely motionless or considered motionless, the displacement of the third reference point of the middle-stage observation station is measured by the last-stage observation station, wherein the third reference point can be an independent measurement point or a measurement point of the last-stage observation station (i.e. a common-view measurement point), and the implementation difficulty and the difficulty in maintaining the precision of the joint measurement instrument are reduced by the arrangement mode, and the visual displacement measurement efficiency is improved. In the observation process, the observation stations are combined to measure the displacement from the first immovable reference point to the second immovable reference point, and whether the second reference point displacement is a closing difference is judged, and the measurement point observation process is executed again when the closing difference is determined to meet the error requirement, so that the observation result is more accurate, and the visual displacement observation accuracy is improved.
In the embodiments provided in the present application, it should be understood that the disclosed system and method may be implemented in other ways. The above-described system embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and there may be other divisions in actual implementation, 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 systems 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.
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, or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (8)
1. The measurement data joint calculation system based on the multi-vision displacement measurement equipment is characterized by comprising a first-stage observation station, a plurality of intermediate-stage observation stations and a last-stage observation station which are adjacent and distributed at intervals, wherein:
a first immovable reference point BM1 is distributed in an observation area of the first-stage observation station, and a second immovable reference point BM2 is distributed in an observation area of the last-stage observation station;
overlapping observation areas exist between adjacent observation stations, the overlapping observation areas cover overlapped common-view points, and the rest non-overlapping observation areas cover a plurality of visible points;
in the observation process, joint measurement is carried out on each observation station from the first immovable reference point BM1 to the second immovable reference point BM2, and when the second immovable reference point BM2 is observed and determined to be displaced and the displacement is larger than a preset limit value, the measurement point observation process is executed again;
common visual measuring points and visual measuring points belonging to the same observation region are positioned on the same vertical bisector;
in the process of joint measurement, the first-level observation station and the last-level observation station use the motionless reference points in the areas as reference points to observe the rest measuring points in the areas;
the intermediate observation station takes the common-view measuring points observed by the adjacent observation stations of the previous stage as reference points to observe the other measuring points in the region;
in the observation process, the intermediate observation station carries out reverse translation compensation on the displacement of all the measurement points measured by the intermediate observation station based on the displacement of the common-view measurement point measured by the adjacent observation station of the previous stage so as to avoid the occurrence of observation errors.
2. The system of claim 1, comprising five adjacent and spaced apart first-level observatory stations, first-third intermediate-level observatory stations, and last-level observatory stations, wherein:
the main optical axes of the observation stations are kept parallel, and the sum of the deviation angles of the main optical axes between two adjacent observation stations is smaller than or equal to a preset angle.
3. The system according to claim 1, wherein in the process of simultaneous measurement, the intermediate-stage observation station further corrects the displacement of all the remaining visible measurement points in the area due to the rolling, pitching, and azimuth changes of the observation station itself based on the principle that all the measurement points will have equal pixel changes in the field of view when the observation station changes in pitch and azimuth.
4. The system of claim 3, wherein the displacement of all the remaining visual points in the area is corrected by:
acquiring first observation distances of all the rest visible measurement points in the areaL n2 And a second observed distance of the target reference pointL tp The distance ratio therebetween;
obtaining a first displacement Z of all the other visible measuring points in the area n2 And a second amount of displacement of the target reference pointZ tp ；
Combining the distance ratio and the second displacementZ tp By a first displacement amount Z n2 And (4) correcting.
5. The system of claim 4, wherein the distance ratio and the second amount of displacement are combined by the following equationZ tp By a first displacement amount Z n2 Correction of (2):
6. the system of claim 1, wherein the predetermined limit is
Wherein, in the step (A),Lthe total mileage is measured in a combined mode; />
The second motionless reference point is observed and determined to be displaced, and the displacement amount is less than or equal to the preset value
When a limit value is set, according to the displacement of the second motionless reference point, the number of the observation stations in the joint measurement and the total number of the observation stations, determining a corresponding adjustment value through the following formula, and distributing the adjustment value to each common visual point and each visual point:
wherein the content of the first and second substances,V i in order to make the difference value even,n i the number of observation station levels for the joint measurement,nin order to observe the total number of stations,f h is the displacement of the second stationary reference point.
7. A joint solution method for measurement data applied to the system according to any one of claims 1 to 6, wherein the method comprises:
triggering each observation station to jointly measure from the first immovable reference point to the second immovable reference point, and re-executing a measurement point observation process when the second immovable reference point is observed and determined to be displaced and the displacement is larger than a preset limit value;
common visual measuring points and visual measuring points of the same observation region are positioned on the same midperpendicular;
in the joint measurement process, triggering the first-stage observation station and the last-stage observation station to observe the rest measuring points in the area by taking the immobile reference points in the area as reference points;
triggering the common-view measuring points observed by the adjacent observation stations above the middle-level observation station as reference points, and observing the other measuring points in the area;
in the observation process, the intermediate observation station is triggered to perform reverse translation compensation on the displacement of all the measurement points measured by the intermediate observation station based on the displacement of the common vision measurement point measured by the adjacent observation station at the previous stage, so that the observation error is avoided.
8. The method of claim 7, wherein during the simultaneous measurement, the method further comprises:
triggering the intermediate observation station to take the position of the target reference point subjected to translation correction in the area as a reference, and correcting the displacement of all the other visible measurement points in the area when the observation station rolls, tilts and changes the azimuth angle according to the principle that all the measurement points are in equal pixel change in the field range when the observation station changes the pitch and the azimuth angle.
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