CN116428982A - Fiber ring skeleton non-contact measurement system and method based on line structured light - Google Patents
Fiber ring skeleton non-contact measurement system and method based on line structured light Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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Abstract
The invention discloses a non-contact measurement system and a non-contact measurement method for an optical fiber ring framework based on line structured light, wherein the method comprises the following steps: continuously acquiring line structure light bar images on the surface of the rotating optical fiber ring skeleton by a camera, and extracting a light bar center line; based on camera parameters and light plane parameters, converting two-dimensional coordinates of a light bar central line into three-dimensional coordinates under a camera coordinate system, and registering three-dimensional coordinate point cloud data of the same light bar section under different view angles to obtain a section point cloud set; splicing the cross section point clouds based on a linear equation of the optical fiber ring skeleton rotation shaft to obtain skeleton point cloud data; and (3) reconstructing a skeleton point cloud data model based on the skeleton point cloud data, and calculating parameters such as the groove width, the perpendicularity, the cylindricity and the concentricity of the optical fiber ring skeleton. The invention adopts a single camera non-contact method based on three-dimensional machine vision to measure the optical fiber ring skeleton, thereby improving the measurement accuracy and the measurement speed.
Description
Technical Field
The invention relates to the technical field of optical detection, in particular to a non-contact measurement system and method for an optical fiber ring skeleton based on line structured light.
Background
The optical fiber loop coil is a core component of the optical fiber gyro. At present, an optical fiber gyro mostly adopts an off-skeleton optical fiber ring with a coil skeleton removed after the winding of an optical fiber ring coil is finished. Compared with the former skeleton optical fiber ring, the structure can avoid that the extrusion and contraction stress generated between the coil skeleton and the optical fiber is sensitive to the optical fiber when the temperature of the measuring environment where the optical fiber gyro is positioned is changed, and the process can obviously reduce the temperature error of the optical fiber ring, so that the temperature stability of the optical fiber ring is greatly improved, and the measuring precision of the optical fiber gyro is improved.
However, in the production stage of the de-skeletonized optical fiber ring, a plurality of skeleton members are required to be assembled and disassembled continuously, and a plurality of times of disassembly and assembly cause installation errors or deformation, so that the precision of the optical fiber ring is affected. Therefore, it is necessary to measure the fitting parameters of the fiber optic ring frame. The measurement of the assembly parameters of the optical fiber ring skeleton is usually carried out by adopting manual contact, and manual contact is needed for re-measurement after the disassembly and the re-assembly are finished each time, so that the precision is not high, and the speed is very low; more importantly, the sprayed coating on the surface of the optical fiber ring skeleton may be damaged due to contact measurement, so that the skeleton cannot be used. These can seriously affect the quality of the fiber optic gyroscope.
Along with the development of three-dimensional machine vision technology, the application of a non-contact measurement method based on the technology in the aspect of shaft part detection is gradually increased, for example: a shaft diameter measuring method based on single-phase camera shooting, a disc cam measuring method based on line structured light and the like. However, the technology of the optical fiber with the framework removed is put into practical use in recent years, so that the related research on the measurement of the dimension of the optical fiber ring framework based on the machine vision technology is less, and the method is still immature. Especially, compared with the simple shaft diameter of the shaft part, the parameters of the optical fiber ring skeleton are more complex, and the measurement is more difficult.
Therefore, how to provide a system and a method for non-contact measurement of an optical fiber ring skeleton, which are easy to implement and accurate in measurement, is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the invention provides a non-contact measurement system and a non-contact measurement method for an optical fiber ring skeleton based on line structured light, which adopt a single camera non-contact method based on three-dimensional machine vision to measure the optical fiber ring skeleton, thereby not only improving the defects of time and labor waste, low precision and easy damage of the skeleton of the traditional contact measurement, but also making up the technical defects of the traditional machine vision non-contact measurement method when measuring the optical fiber ring skeleton, improving the measurement precision and the measurement speed and meeting the higher efficiency cost ratio.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the non-contact measurement method of the optical fiber ring skeleton based on the line structured light comprises the following steps:
obtaining camera parameters, light plane parameters of a line structure light plane equation and a linear equation of a fiber ring skeleton rotation shaft through calibration;
projecting line structure light from a determined position through a laser, irradiating the surface of the rotating optical fiber ring skeleton through the line structure light, collecting a light bar image on the surface of the optical fiber ring skeleton through a calibrated camera, and extracting a light bar center line;
based on camera parameters and light plane parameters, converting two-dimensional coordinates of a light bar central line into three-dimensional coordinates under a camera coordinate system, registering three-dimensional point cloud data acquired by the same light bar section through different visual angles of a camera, and obtaining a section point cloud set;
splicing the light bar section point clouds based on a linear equation of the optical fiber ring skeleton rotation shaft to obtain skeleton point cloud data;
and (3) reconstructing a skeleton point cloud data model based on the skeleton point cloud data to obtain skeleton parameters of the optical fiber ring, wherein the skeleton parameters comprise groove width, perpendicularity, cylindricity, concentricity and the like.
Preferably, when calibrating camera parameters, the calibration plate is assumed to be positioned on a plane zw=0 of a world coordinate system Ow-XwYwZw, the calibration plate is shot from multiple angles by using a camera, coordinates of characteristic points in an image pixel coordinate system and the world coordinate system are extracted, a homography matrix of each image is calculated, the homography matrix is linearly decomposed to obtain internal and external parameters, then distortion coefficients are obtained according to a distortion equation, and the calibration of the internal and external parameters of the camera is completed through optimization of a Levenberg-Marquardt algorithm.
Preferably, the calibration method of the linear equation of the optical fiber ring skeleton rotation axis is as follows:
and (3) fixing the calibrated camera in position, fixing the plane checkerboard target on the optical fiber ring skeleton rotating shaft, enabling the axis of the optical fiber ring skeleton rotating shaft to pass through the plane where the plane checkerboard is located, shooting a plurality of images on the rotating plane checkerboard target, calculating equations of a plurality of planes where the plane checkerboard is located, and solving intersection lines of the planes, namely, a linear equation of the optical fiber ring skeleton rotating shaft.
Preferably, the calibration method of the line structured light plane equation comprises the following steps:
let the line structure light plane equation be ax+by+cz+d=0, the light plane parameters of the line structure light plane equation include normal vectors (a, B, C) and plane parameters D;
extracting a central line equation of a light bar image of line structure light projected on a plane checkerboard target, and calculating to obtain a blanking point;
continuously changing the positions of the plane checkerboard targets, and repeating the steps to obtain a plurality of blanking points;
fitting a blanking line through a plurality of blanking points, thereby obtaining normal vectors (A, B, C) of the light plane;
the planar parameter D is determined by geometric constraints.
Preferably, the specific process of the central line equation of the light bar image projected by the extraction line structure light on the plane checkerboard target is as follows:
obtaining a gray image with light bar information through a calibrated camera, and performing filtering treatment on the gray image to remove noise points;
dividing the filtered image to obtain a light bar region of interest;
extracting a light bar center in a light bar region of interest based on a Steger algorithm of a Hessian matrix, obtaining a sub-pixel point coordinate of the light bar center, and performing straight line fitting by using a least square method to obtain a center line equation of a light bar image of line structure light projected on a plane checkerboard target.
An optical fiber loop skeleton non-contact measurement system based on line structured light, comprising: the device comprises a camera, a laser, a rotating platform, a calibration module, an extraction module, a point cloud data processing module and a model reconstruction module, wherein an optical fiber ring framework is fixed on the rotating platform;
and (3) rotating a platform: the optical fiber ring framework is used for bearing the optical fiber ring framework to do circular motion around the rotating shaft of the rotating platform;
a laser: the optical fiber ring skeleton is used for emitting line structure light to irradiate the surface of the rotating optical fiber ring skeleton;
and (3) a calibration module: obtaining camera parameters, light plane parameters of a line structure light plane equation and a linear equation of a fiber ring skeleton rotation shaft through calibration;
camera: the method is used for collecting the light bar image on the surface of the optical fiber ring framework;
and an extraction module: a light bar center line for extracting a light bar image;
the point cloud data processing module is used for: based on camera parameters and light plane parameters, converting two-dimensional coordinates of a light bar central line into three-dimensional coordinates under a camera coordinate system, registering three-dimensional point cloud data acquired by the same light bar section through different visual angles of a camera, and obtaining a section point cloud set;
splicing the cross section point clouds based on a linear equation of the optical fiber ring skeleton rotation shaft to obtain skeleton point cloud data;
model reconstruction module: and (3) reconstructing a skeleton point cloud data model based on the skeleton point cloud data to obtain skeleton parameters of the optical fiber ring, wherein the skeleton parameters comprise groove width, perpendicularity, cylindricity, concentricity and the like.
Compared with the prior art, the invention discloses the non-contact measurement system and the non-contact measurement method for the optical fiber ring skeleton based on the line structured light, which adopt the single-camera three-dimensional vision measurement technology based on the line structured light to measure the position and the size of the characteristic points of the optical fiber ring skeleton, thereby improving the measurement efficiency and the measurement precision of the optical fiber gyro skeleton.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a non-contact measurement method of an optical fiber ring framework based on line structured light.
FIG. 2 is a diagram showing a structure of a non-contact measurement system of an optical fiber ring framework based on line structured light.
Fig. 3 is a schematic diagram of calibration of a line structured light plane equation according to the present invention.
The device comprises a rotary platform 1, an optical fiber ring framework 2, a camera 3, a camera 4 and a laser.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment of the invention discloses a non-contact measurement method of an optical fiber ring framework based on line structured light, which is shown in fig. 1 and comprises the following steps:
obtaining camera parameters, light plane parameters of a line structure light plane equation and a linear equation of a fiber ring skeleton rotation shaft through calibration;
illuminating the surface of the optical fiber ring skeleton by line structure light, collecting light bar images of the surface of the optical fiber ring skeleton by using a camera, and extracting a light bar center line;
based on camera parameters and light plane parameters, converting the two-dimensional coordinates of the center line of the light bar into three-dimensional coordinates under a camera coordinate system, and registering three-dimensional point cloud data of different view angles of the same light bar section to obtain a section point cloud set;
splicing the cross section point clouds based on a linear equation of the optical fiber ring skeleton rotation shaft to obtain skeleton point cloud data;
and carrying out framework point cloud data model reconstruction based on the framework point cloud data to obtain the optical fiber ring framework parameters.
In addition, in the aspect of the line structure light plane calibration technology, the current plane calibration is mostly determined by intersecting lines of the light plane and a plane checkerboard target, namely, a plane equation is fitted by solving a plurality of intersecting line equations according to the principle that one plane is determined by two non-parallel straight lines. The method is simple, but the coordinate transformation is carried out by utilizing the internal and external parameters of the camera for many times, so that the error is large and the time is wasted. The invention adopts a light plane calibration method based on a blanking principle to improve the light plane calibration precision.
The image point of the infinity point on the line L is called the blanking point of the line L. The parallel straight line intersects the infinite plane at the same infinity point, so the parallel straight line has the same blanking point. The blanking point is only related to the direction of the line and not to the position of the line. Let v denote the blanking point, the straight line direction d, the in-camera parameter K, v=kd. The projected straight line of the infinity straight line L on the plane pi on the image plane is called the vanishing line of the plane. The parallel planes intersect the same straight line on the infinity plane, so that the parallel planes have the same vanishing line. The vanishing line is only related to the normal vector of the plane (or direction of the plane) and not to the position of the plane. Let the vanishing line be l, the plane direction be n, have l=k -T n, where K -T Is the inverse of K.
According to the principle of blanking, parallel planes in three dimensions have identical blanking lines which are only related to the normal vector of the plane. Likewise, parallel straight lines have the same blanking point, which is only related to the direction vector of the straight line.
As shown in fig. 3, S1 and S2 in the drawing are images of intersecting lines of a space parallel plane and a plane checkerboard target, namely representing light bar images of line structure light projected on the plane checkerboard target, and two parallel light planes are formed by fixing a laser on a linear guide rail and moving; l1 and L2 are plane checkerboard target inherent parallel straight lines; u1 and U3 are perpendicular lines between L1 and L2 and perpendicular lines between S1 and S2 respectively; u2 is a line connecting the intersection of S1 and L1 and the intersection of S2 and L2.
Let the line structured light plane equation be AX+BY+CZ+D 1 =0. Firstly, calculating to obtain an intersection point of two light bar straight lines, namely a blanking point through an equation of the light bar central line projected on a plane checkerboard target by the light of the extraction line structure; then, changing the positions of the plane checkerboard targets, extracting the equation of the center of the light bar projected by the line structure light on the plane checkerboard targets again to obtain another blanking point, continuously changing the positions of the plane checkerboard targets to obtain a plurality of blanking points, fitting out the blanking lines by a least square method, and then utilizing l=k -T n, the normal vector (a, B, C) of the light plane is obtained. The spatial plane equation can thus be expressed as:
for parameter D 1 、D 2 The distance between the two planes is a fixed amount and is known as d, which is the distance the laser moves on the linear guide. The distance between the planar checkerboard target lines is also d. The angle alpha is the included angle between L1 and S1, and can be determined by the direction vectors of two straight lines, and the angle
The angle α is equal to the angle +.>
The segment U2 length l can be expressed as
And l can in turn be expressed as the distance between the two intersection points. Let the camera coordinates of the two intersection points be V 1 、V 2 Then according to the equation set
Can solve D 1 、D 2 。
In the method, when solving the normal vector of the light plane, only the internal parameters of the camera need to be considered, and external parameters do not need to be used, so that the result is more accurate. Compared with a large amount of data coordinate conversion in the existing method, the method only needs to carry out coordinate conversion when the intersection point is required, and conversion errors can be effectively reduced.
In this embodiment, as shown in fig. 2, an embodiment of the present invention provides a non-contact measurement system for an optical fiber ring skeleton based on line structured light, including: the device comprises a camera 3, a laser 4, a rotary platform 1, a calibration module, an extraction module, a point cloud data processing module and a model reconstruction module, wherein an optical fiber ring framework is fixed on the rotary platform;
rotating platform 1: the optical fiber ring framework 2 is used for carrying the optical fiber ring to do circular motion around the rotating shaft of the rotating platform;
laser 4: the optical fiber ring framework is used for emitting line structure light to irradiate the surface of the optical fiber ring framework;
and (3) a calibration module: obtaining camera parameters, light plane parameters of a line structure light plane equation and a linear equation of a fiber ring skeleton rotation shaft through calibration;
camera 3: the optical strip image acquisition device is used for acquiring an optical strip image of the surface of the optical fiber ring framework 2;
and an extraction module: a light bar center line for extracting a light bar image;
the point cloud data processing module is used for: based on camera parameters and light plane parameters, converting the two-dimensional coordinates of the center line of the light bar into three-dimensional coordinates under a camera coordinate system, and registering three-dimensional point cloud data of different view angles of the same light bar section to obtain a section point cloud set;
splicing the cross section point clouds based on a linear equation of the optical fiber ring skeleton rotation shaft to obtain skeleton point cloud data;
model reconstruction module: and (3) reconstructing a skeleton point cloud data model based on the skeleton point cloud data to obtain parameters such as the groove width, the perpendicularity, the cylindricity and the concentricity of the optical fiber ring skeleton.
The system of the invention has the specific working process that:
before the system works, calibration of the camera 3, the laser 4 and the rotating shaft is completed through a calibration module, and camera parameters, light plane parameters of a linear light plane equation and a linear equation of the rotating shaft of the optical fiber ring skeleton are correspondingly obtained.
When measurement is started, the optical fiber ring skeleton 2 is fixed on the rotary platform 1, and a motor of the rotary platform 1 drags the skeleton to do circular motion around a platform rotation shaft;
the calibrated camera and the laser are used as an acquisition module to be placed at the position 1, light bar images at the cross section of the framework shown in the figure 2 are acquired, and point cloud data at the position 1, namely at one side of the framework, are obtained through processing; after the acquisition processing at the position 1 is completed, moving the acquisition equipment to the position 2, and acquiring and processing point cloud data of the same section at the position 2, namely the other side of the framework in the diagram; position 1 and position 2 are to ensure that the camera can acquire the point cloud data on two sides of the same section, and especially the complete acquisition of the point cloud data of two side walls is required to be focused.
And splicing the point clouds on the same light bar section acquired twice to form complete skeleton section point cloud data. If the point cloud data of each section are rotated around the rotation axis by a fixed angle, a skeleton point cloud model is formed, (namely, the positions of a camera and a laser are unchanged when the point cloud data of one side are collected, only the skeleton rotates, so that the absolute position of laser irradiation on the skeleton is unchanged, and under a camera coordinate system, the point cloud data are all positioned at the same position, but the sections are obtained around the rotation axis and belong to different sections, and the rotation angle of each section relative to the initial position is recorded and can be reversely converted to the original position of each section.) the skeleton point cloud model is reconstructed, and the measurement results of parameters such as the groove width, the perpendicularity, the cylindricity, the concentricity and the like of the optical fiber ring skeleton are obtained by calculation.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. The non-contact measurement method of the optical fiber ring framework based on the line structured light is characterized by comprising the following steps:
obtaining camera parameters, light plane parameters of a line structure light plane equation and a linear equation of a fiber ring skeleton rotation shaft through calibration;
projecting line structure light from a determined position through a laser, irradiating the surface of the rotating optical fiber ring skeleton through the line structure light, collecting a light bar image on the surface of the optical fiber ring skeleton through a calibrated camera, and extracting a light bar center line;
based on camera parameters and light plane parameters, converting two-dimensional coordinates of a light bar central line into three-dimensional coordinates under a camera coordinate system, registering three-dimensional point cloud data acquired by the same light bar section through different visual angles of a camera, and obtaining a section point cloud set;
splicing the light bar section point clouds based on a linear equation of the optical fiber ring skeleton rotation shaft to obtain skeleton point cloud data;
and carrying out framework point cloud data model reconstruction based on the framework point cloud data to obtain the optical fiber ring framework parameters.
2. The method for non-contact measurement of fiber ring skeleton based on line structured light according to claim 1, wherein when calibrating camera parameters, it is assumed that a calibration plate is located on a plane zw=0 of a world coordinate system Ow-XwYwZw, the calibration plate is photographed from multiple angles by a camera, coordinates of feature points in an image pixel coordinate system and the world coordinate system are extracted, homography matrix of each image is calculated, the homography matrix is linearly decomposed to obtain internal and external parameters, distortion coefficients are obtained according to a distortion equation, and calibration of the internal and external parameters of the camera is completed through optimization of a Levenberg-Marquardt algorithm.
3. The non-contact measurement method of the fiber ring skeleton based on the line structured light according to claim 2, wherein the calibration method of the linear equation of the rotation axis of the fiber ring skeleton is as follows:
and (3) fixing the position of the calibrated camera, fixing the plane checkerboard target on the optical fiber ring skeleton rotating shaft, enabling the axis of the optical fiber ring skeleton rotating shaft to pass through the plane where the plane checkerboard target is located, shooting a plurality of images on the rotating plane checkerboard target, calculating equations of a plurality of planes where the plane checkerboard target is located, and solving intersection lines of the planes to obtain a linear equation of the optical fiber ring skeleton rotating shaft.
4. The method for non-contact measurement of a fiber ring skeleton based on line structured light according to claim 2, wherein the calibration method of the line structured light plane equation comprises the steps of:
let the line structure light plane equation be ax+by+cz+d=0, the light plane parameters of the line structure light plane equation include normal vectors (a, B, C) and plane parameters D;
extracting a central line equation of a light bar image of line structure light projected on a plane checkerboard target, and calculating to obtain a blanking point;
continuously changing the positions of the plane checkerboard targets, and repeating the steps to obtain a plurality of blanking points;
fitting a blanking line through a plurality of blanking points, thereby obtaining normal vectors (A, B, C) of the light plane;
the planar parameter D is determined by geometric constraints.
5. The non-contact measurement method for the fiber ring skeleton based on the line structured light according to claim 4, wherein the method is characterized in that a centreline equation of a light bar image of the line structured light projected on a plane checkerboard target is extracted, and comprises the following specific procedures:
obtaining a gray image with light bar information through a calibrated camera, and performing filtering treatment on the gray image to remove noise points;
dividing the filtered image to obtain a light bar region of interest;
extracting a light bar center in a light bar region of interest based on a Steger algorithm of a Hessian matrix, obtaining a sub-pixel coordinate point of the light bar center, and performing straight line fitting by using a least square method to obtain a centreline equation of a light bar image of line structure light projected on a plane checkerboard target.
6. The method for non-contact measurement of a fiber ring skeleton based on line structured light according to claim 1, wherein the parameters of the fiber ring skeleton include groove width, perpendicularity, cylindricity and concentricity.
7. Fiber ring skeleton non-contact measurement system based on line structure light, its characterized in that includes: the device comprises a camera, a laser, a rotating platform, a calibration module, an extraction module, a point cloud data processing module and a model reconstruction module, wherein an optical fiber ring framework is fixed on the rotating platform;
and (3) rotating a platform: the optical fiber ring framework is used for bearing the optical fiber ring framework to do circular motion around the rotating shaft of the rotating platform;
a laser: the optical fiber ring skeleton is used for emitting line structure light to irradiate the surface of the rotating optical fiber ring skeleton;
and (3) a calibration module: obtaining camera parameters, light plane parameters of a line structure light plane equation and a linear equation of a fiber ring skeleton rotation shaft through calibration;
camera: the method is used for collecting the light bar image on the surface of the optical fiber ring framework;
and an extraction module: a light bar center line for extracting a light bar image;
the point cloud data processing module is used for: based on camera parameters and light plane parameters, converting two-dimensional coordinates of a light bar central line into three-dimensional coordinates under a camera coordinate system, registering three-dimensional point cloud data acquired by the same light bar section through different visual angles of a camera, and obtaining a section point cloud set;
splicing the cross section point clouds based on a linear equation of the optical fiber ring skeleton rotation shaft to obtain skeleton point cloud data;
model reconstruction module: and carrying out framework point cloud data model reconstruction based on the framework point cloud data to obtain the optical fiber ring framework parameters.
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| CN117523132A (en) * | 2023-08-01 | 2024-02-06 | 中铁建大桥工程局集团第四工程有限公司 | Steel truss arch bridge buckling tower verticality adjusting system and method |
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2023
- 2023-04-19 CN CN202310417817.8A patent/CN116428982A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117523132A (en) * | 2023-08-01 | 2024-02-06 | 中铁建大桥工程局集团第四工程有限公司 | Steel truss arch bridge buckling tower verticality adjusting system and method |
| CN117523132B (en) * | 2023-08-01 | 2024-05-03 | 中铁建大桥工程局集团第四工程有限公司 | Steel truss arch bridge buckling tower verticality adjusting system and method |
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