CN1605830A - Large-scale three dimensional shape and appearance measuring and splicing method without being based on adhesive mark - Google Patents
Large-scale three dimensional shape and appearance measuring and splicing method without being based on adhesive mark Download PDFInfo
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- CN1605830A CN1605830A CN 200410072701 CN200410072701A CN1605830A CN 1605830 A CN1605830 A CN 1605830A CN 200410072701 CN200410072701 CN 200410072701 CN 200410072701 A CN200410072701 A CN 200410072701A CN 1605830 A CN1605830 A CN 1605830A
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Abstract
The large 3D body appearance measuring and splicing method without adhered mark converts the local position measuring data of local measuring head data with the measuring head controlling points to the global coordinates to realize splicing. The splicing process includes the following steps: setting in the measurement space one reference ruler with two mark points; obtaining images of the global marks and reference ruler in different posture with high resolution digital camera from different directions; photographing one image frame with the measuring head controlling point and at least 3 global control points; converting the measuring head measured data of all areas to the global coordinate system, etc. to complete the splicing of single area measuring data to the integral. No marks adhered to the measured body has no influence on the self characteristic of the measured appearance, true and reliable measurement data and high operation efficiency.
Description
Technical field
The present invention relates to precision measurement method, particularly a kind of not based on the joining method of large-sized object (body) topography measurement of adhesive mark point.
Background technology
The body shape measurement is meant the measurement of body surface topography, it is the shoring of foundation technology of modern reverse-engineering and product Design of digital, management and manufacturing, also be a product of the future detection means, formerly system is made the background that is widely used in the field, has caused people's great attention.
Tradition realizes that the body shape measurement mainly contains two big class schemes: directly utilize coordinate measuring machine (CMM) and indirect utilization CMM measuring principle.The former directly uses CMM, testee is placed on the CMM, with the CMM gauge head object is sampled, obtain the topographic data of object, but because the restriction of CMM line slideway forms of motion, efficient is very low, and measuring a bigger object needs several days even tens day time usually, and can not be applied to site environment; Latter's indirect utilization CMM principle, with the CMM of standard with forms of motion (comprising rotary freedom) flexibly, simplified structure replaces cheaply, cooperate high-precision laser scanning device (being equivalent to the CMM gauge head), during measurement, body places on the worktable, and worktable drives the testee rotation or laser scanning device rotates around worktable, realizes the quick scanning survey in a plurality of sides of object.Than directly utilizing CMM, latter's speed is fast, and cost is low, and it is little to be particularly suitable for volume, to the not too strict application scenario of accuracy requirement.
Developed a kind of novel portable type measuring method now, adopt splicing, big tested pattern is divided into a plurality of zonules, single zone adopts the non-contact optical gauge head to measure, measurement result with All Ranges is stitched together (being unified in the global coordinate system) then, forms complete pattern.For realizing whole splicing, practices well is at present: paste a lot of gauge points (being the adhesive mark point) on the testee surface, at least comprise three gauge points in each zone, the volume coordinate of all gauge points adopts global measuring technology (measuring as transit survey system, digital close shot) to measure, volume coordinate according to all gauge points, in measurement data unification to a measurement coordinate system with (local coordinate system) in each zone, realize whole splicing.
Said method has obvious limitation: 1) measures for the large-sized object looks, a lot of gauge points must be set, and very loaded down with trivial details, and along with the gauge point number increases, the mistake of identification increases automatically; 2) a large amount of gauge points must stick on the testee surface, have destroyed tested pattern unique characteristics, the authenticity that impact is measured.
Summary of the invention
Technical matters to be solved by this invention is to overcome the deficiency that prior art exists, and a kind of large three-dimensional body shape measurement joining method that need not to paste on the testee surface a plurality of gauge points is provided.
For solving the problems of the technologies described above, of the present inventionly do not measure joining method based on the large three-dimensional body shape of adhesive mark, by the gauge head reference mark measurement data of gauge head at each local location is transformed in the global coordinate system, realize local splicing to integral body, joining method comprises following rapid step by step:
A places a station meter that is marked with two gauge points in measurement space, distance is reference range between two gauge points;
B adopts high-resolution digital camera from a plurality of different angles, takes the image that comprises global mark point and station meter with different attitudes, obtains all global control points at global coordinate system O
gX
gY
gZ
gUnder D coordinates value and space correlation;
The c gauge head is measured the zones of different of testee pattern, and when measuring certain zone, digital camera is taken the image that a width of cloth comprises gauge head reference mark and at least 3 global control points simultaneously;
D obtains gauge head control coordinate system O by the transitional function of camera coordinate system
cX
cY
cZ
cWith global coordinate system O
gX
gY
gZ
gRelations Among, and then obtain gauge head measurement coordinate system O
mX
mY
mZ
mWith global coordinate system O
gX
gY
gZ
gBetween transformation relation;
E is for each zone, the measurement data of gauge head is transformed in the global coordinate system, thereby the measurement data unification that realizes each measured zone finished single area measure data to whole splicing in global coordinate system.
Compared with prior art, the present invention has following beneficial effect: (one) the present invention does not need to paste a plurality of (or a large amount of) gauge point on the testee surface, does not influence tested pattern unique characteristics, and measurement data is true and reliable; (2) joining method of the present invention and operation are succinct, efficient is high; (3) owing to do not need on the testee surface, pasting a lot of gauge points, slow down and lacked the mistake of automatic identification.
Description of drawings
Fig. 1 is global control point and gauge head reference mark synoptic diagram;
Fig. 2 is a measurement data splicing synoptic diagram;
Fig. 3 is the area measure synoptic diagram;
Embodiment
Below in conjunction with accompanying drawing joining method of the present invention is described in detail.
The present invention does not adopt the adhesive mark point, to the not impact of tested pattern unique characteristics, measuring speed is fast, efficient is high.Form by some control mark points (comprising gauge head reference mark and global control point), station meter and high precision digital camera.Adopt gauge head reference mark and global control point technology, in that being set on the gauge head, 3 (or more than 3) fixedly (are fixed on the gauge head at the reference mark, and the spatial relationship between the gauge head is fixed), be called the gauge head reference mark, by a gauge head control of three gauge head reference mark definition coordinate system OcXcYcZc, the relation between gauge head control coordinate system and the gauge head measurement coordinate system OmXmYmZm obtains in advance by calibration technique.4 above global control points are set in measurement space, and the close-range photogrammetry principle is adopted in their volume coordinate and mutual alignment, in conjunction with station meter, is measured by digital camera.
As shown in Figure 1, global control point G fixing more than four is set in the testee space
1, G
2... G
n, the centre of sphere location of standard ball can be adopted in the reference mark, at the gauge head reference mark L that is provided with on the gauge head more than 3
1, L
2, L
3...Choose global control point G
1, G
2... G
n, in any point-blank global coordinate system O of 3 somes definition not
gX
gY
gZ
g, choose equally gauge head control point L
1, L
2, L
3In any point-blank a gauge head control of 3 somes definition coordinate system O not
cX
cY
cZ
c, adopt the precision calibration technology before measuring, set up gauge head and measure coordinate system O
mX
mY
mZ
mWith gauge head control coordinate system O
cX
cY
cZ
cBetween transformation relation.
During measurement, at first, in measurement space, place a station meter and (comprise two gauge points, distance is fixing between the gauge point, be reference range), adopt high-resolution digital camera from a plurality of different angles, take the image that comprises global mark point and station meter with different attitudes, by photogrammetric principle, can obtain all global control points at global coordinate system O
gX
gY
gZ
gUnder D coordinates value and space correlation; Secondly, gauge head is measured the zones of different of testee pattern, when measuring certain zone, digital camera is taken the image that a width of cloth comprises gauge head control point and at least 3 global control points simultaneously, shown in figure two, because gauge head control point Relations Among is fixing known, and the spatial relationship between the global control point also obtains (previous step obtains), by these constraints, can solve simultaneously the coordinate of global control point (more than 3) in video camera (digital camera) coordinate system that occurs in gauge head control point and the image; Again, because gauge head control point and the coordinate of 3 above global control points in video camera (digital camera) coordinate system are known, by the transitional function of camera coordinate system, can obtain gauge head control coordinate system O
cX
cY
cZ
cWith global coordinate system O
gX
gY
gZ
gRelations Among, and then obtain gauge head measurement coordinate system O
mX
mY
mZ
mWith global coordinate system O
gX
gY
gZ
gBetween transformation relation; At last, for each zone, because gauge head is measured coordinate system and the global coordinate system Relations Among obtains, the measurement data of gauge head can be transformed in the global coordinate system, thereby realize the measurement data unification of each measured zone in global coordinate system, finish single area measure data to whole splicing.
Measure the large-sized object pattern as the concrete embodiment of example explanation take the optics non-contact measuring head below:
As shown in Figure 2, place 4 above global control points in detected space, what of global point quantity can determine that according to actual requirement (testee size) global control point adopts the centre of sphere location of microsphere.Fix 3 (or a plurality of) gauge head reference mark on the optical measuring head, the centre of sphere of microsphere or the location, the center of circle of flat circle are adopted in the gauge head reference mark.The coordinate of reference mark in the gauge head measurement coordinate system demarcated in advance and obtained on the gauge head.
During measurement, at first, comprise the image of all global control points with digital camera from multi-angled shooting, obtain global control point at global coordinate system O
gX
gY
gZ
gIn spatial value; Secondly, optical measuring head is measured each zone of testee one by one, is measuring each regional S
iThe time, such as Fig. 3, take simultaneously the image that comprises all gauge head control points and three above global control points under the current location with digital camera; Again, by the known spatial relationship of global control point and gauge head control point, can calculate under the current location, global control point and the gauge head control point coordinate figure in the digital camera coordinate system, by these coordinate figures, can set up gauge head and measure transformation relation between coordinate system and the global coordinate system, the measurement data of current tested regional S is transformed in the global coordinate system; At last, measure successively each zone of testee with optical measuring head, repeat above-mentioned steps, can with the measurement data unification in all tested zones in global coordinate system, realize the integral body splicing of large-sized object pattern.
Claims (1)
1. do not measure joining method for one kind based on the large three-dimensional body shape of adhesive mark, it is characterized in that, by the gauge head reference mark measurement data of gauge head at each local location is transformed in the global coordinate system, realizes local splicing to integral body, joining method comprises following rapid step by step:
A places a station meter that is marked with two gauge points in measurement space, distance is reference range between two gauge points;
B adopts high-resolution digital camera from a plurality of different angles, takes the image that comprises global mark point and station meter with different attitudes, obtains all global control points at global coordinate system O
gX
gY
gZ
gUnder D coordinates value and space correlation;
The c gauge head is measured the zones of different of testee pattern, and when measuring certain zone, digital camera is taken the image that a width of cloth comprises gauge head reference mark and at least 3 global control points simultaneously;
D obtains gauge head control coordinate system O by the transitional function of camera coordinate system
cX
cY
cZ
cWith global coordinate system O
gX
gY
gZ
gRelations Among, and then obtain gauge head measurement coordinate system O
mZ
mY
mZ
mWith global coordinate system O
gX
gY
gZ
gBetween transformation relation;
E is for each zone, the measurement data of gauge head is transformed in the global coordinate system, thereby the measurement data unification that realizes each measured zone finished single area measure data to whole splicing in global coordinate system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410072701 CN1233984C (en) | 2004-11-11 | 2004-11-11 | Large-scale three dimensional shape and appearance measuring and splicing method without being based on adhesive mark |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410072701 CN1233984C (en) | 2004-11-11 | 2004-11-11 | Large-scale three dimensional shape and appearance measuring and splicing method without being based on adhesive mark |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1605830A true CN1605830A (en) | 2005-04-13 |
| CN1233984C CN1233984C (en) | 2005-12-28 |
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| CN 200410072701 Expired - Fee Related CN1233984C (en) | 2004-11-11 | 2004-11-11 | Large-scale three dimensional shape and appearance measuring and splicing method without being based on adhesive mark |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100343625C (en) * | 2005-12-05 | 2007-10-17 | 天津大学 | Measuring splice method and device of large three-dimensional body shape based on splicing target |
| CN100430690C (en) * | 2006-12-19 | 2008-11-05 | 南京航空航天大学 | Method for making three-dimensional measurement of objects utilizing single digital camera to freely shoot |
| CN100476349C (en) * | 2007-10-17 | 2009-04-08 | 南京大学 | Automatic calculation method for global coordinate system under multiple-association engineering chart environment |
| CN100476350C (en) * | 2007-10-17 | 2009-04-08 | 南京大学 | Automatic positioning method for global coordinate system under multiple-association engineering chart environment |
| CN101261114B (en) * | 2008-04-13 | 2010-06-16 | 徐春云 | Multi-lens measurement method |
| CN102042814A (en) * | 2010-06-24 | 2011-05-04 | 中国人民解放军国防科学技术大学 | Projection auxiliary photographing measurement method for three-dimensional topography of large storage yard |
| CN101706262B (en) * | 2009-11-19 | 2011-05-25 | 天津大学 | Absolute non-interfering precision measuring method facing ultra-large spatial complex curved surface |
| CN103954221A (en) * | 2014-05-08 | 2014-07-30 | 哈尔滨工业大学 | Binocular photogrammetry method of large flexible structure vibration displacement |
| CN105387818A (en) * | 2015-10-26 | 2016-03-09 | 天津大学 | Large-scale three-dimensional shape measurement method based on one-dimensional image sequence |
| CN110345868A (en) * | 2019-07-30 | 2019-10-18 | 芜湖泓鹄材料技术有限公司 | A kind of accuracy checking method based on the photogrammetric white mould of automobile evaporative pattern |
| CN110542379A (en) * | 2019-10-14 | 2019-12-06 | 北京建筑大学 | method and device for coordinate conversion |
| WO2021036353A1 (en) * | 2019-08-23 | 2021-03-04 | 上海亦我信息技术有限公司 | Photographing-based 3d modeling system and method, and automatic 3d modeling apparatus and method |
| GB2591857A (en) * | 2019-08-23 | 2021-08-11 | Shang Hai Yiwo Information Tech Co Ltd | Photographing-based 3D modeling system and method, and automatic 3D modeling apparatus and method |
| CN113310427A (en) * | 2021-05-18 | 2021-08-27 | 杭州思看科技有限公司 | Three-dimensional scanning system and three-dimensional scanning method |
| CN114413790A (en) * | 2022-01-31 | 2022-04-29 | 北京航空航天大学 | Large-view-field three-dimensional scanning device and method for fixedly connecting photogrammetric camera |
-
2004
- 2004-11-11 CN CN 200410072701 patent/CN1233984C/en not_active Expired - Fee Related
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100343625C (en) * | 2005-12-05 | 2007-10-17 | 天津大学 | Measuring splice method and device of large three-dimensional body shape based on splicing target |
| CN100430690C (en) * | 2006-12-19 | 2008-11-05 | 南京航空航天大学 | Method for making three-dimensional measurement of objects utilizing single digital camera to freely shoot |
| CN100476349C (en) * | 2007-10-17 | 2009-04-08 | 南京大学 | Automatic calculation method for global coordinate system under multiple-association engineering chart environment |
| CN100476350C (en) * | 2007-10-17 | 2009-04-08 | 南京大学 | Automatic positioning method for global coordinate system under multiple-association engineering chart environment |
| CN101261114B (en) * | 2008-04-13 | 2010-06-16 | 徐春云 | Multi-lens measurement method |
| CN101706262B (en) * | 2009-11-19 | 2011-05-25 | 天津大学 | Absolute non-interfering precision measuring method facing ultra-large spatial complex curved surface |
| CN102042814A (en) * | 2010-06-24 | 2011-05-04 | 中国人民解放军国防科学技术大学 | Projection auxiliary photographing measurement method for three-dimensional topography of large storage yard |
| CN103954221B (en) * | 2014-05-08 | 2016-08-17 | 哈尔滨工业大学 | The binocular photogrammetric survey method of large-size pliable structure vibration displacement |
| CN103954221A (en) * | 2014-05-08 | 2014-07-30 | 哈尔滨工业大学 | Binocular photogrammetry method of large flexible structure vibration displacement |
| CN105387818B (en) * | 2015-10-26 | 2017-06-13 | 天津大学 | A kind of large scale 3 D measuring method based on one dimensional image sequence |
| CN105387818A (en) * | 2015-10-26 | 2016-03-09 | 天津大学 | Large-scale three-dimensional shape measurement method based on one-dimensional image sequence |
| CN110345868A (en) * | 2019-07-30 | 2019-10-18 | 芜湖泓鹄材料技术有限公司 | A kind of accuracy checking method based on the photogrammetric white mould of automobile evaporative pattern |
| CN110345868B (en) * | 2019-07-30 | 2021-09-10 | 芜湖泓鹄材料技术有限公司 | Precision detection method of automobile lost foam white mold based on photogrammetry |
| WO2021036353A1 (en) * | 2019-08-23 | 2021-03-04 | 上海亦我信息技术有限公司 | Photographing-based 3d modeling system and method, and automatic 3d modeling apparatus and method |
| GB2591857A (en) * | 2019-08-23 | 2021-08-11 | Shang Hai Yiwo Information Tech Co Ltd | Photographing-based 3D modeling system and method, and automatic 3D modeling apparatus and method |
| GB2591857B (en) * | 2019-08-23 | 2023-12-06 | Shang Hai Yiwo Information Tech Co Ltd | Photography-based 3D modeling system and method, and automatic 3D modeling apparatus and method |
| CN110542379A (en) * | 2019-10-14 | 2019-12-06 | 北京建筑大学 | method and device for coordinate conversion |
| CN113310427A (en) * | 2021-05-18 | 2021-08-27 | 杭州思看科技有限公司 | Three-dimensional scanning system and three-dimensional scanning method |
| CN113310427B (en) * | 2021-05-18 | 2023-03-07 | 思看科技(杭州)股份有限公司 | Three-dimensional scanning system and three-dimensional scanning method |
| CN114413790A (en) * | 2022-01-31 | 2022-04-29 | 北京航空航天大学 | Large-view-field three-dimensional scanning device and method for fixedly connecting photogrammetric camera |
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