CN201488732U - Non-control digital close-range photographing system - Google Patents
Non-control digital close-range photographing system Download PDFInfo
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- CN201488732U CN201488732U CN2009201449366U CN200920144936U CN201488732U CN 201488732 U CN201488732 U CN 201488732U CN 2009201449366 U CN2009201449366 U CN 2009201449366U CN 200920144936 U CN200920144936 U CN 200920144936U CN 201488732 U CN201488732 U CN 201488732U
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Abstract
The utility model provides a non-control digital close-range photographing system, which comprises a gatepost, an electronic theodolite, a digital camera, a global positioning system GPS and a personal digital assistant PDA, wherein the electronic theodolite, the digital camera and GPS are respectively connected with PDA through communication cables; the digital camera, the electronic theodolite and GPS are respectively integrated on the gatepost through a fixing device; and the objective lens of the digital camera and the telescope of the electronic theodolite are connected through a synchronous linkage component. The system is a data rapid acquiring platform integrating the space positioning technology, the close-range photography survey technology and the serial communication technology, breaks the operation mode of control survey followed detail survey of the traditional survey, and thereby realizing the integration of close-range photography survey field work, i.e. the control survey and the detail survey are carried out simultaneously so as to rapidly acquire the three dimensional coordinate and the texture image of an object in the survey area, and thereby lowering the labor intensity, increasing the degree of automation and the efficiency of the engineering survey and rapidly realizing the three dimensional modeling of a photographed object.
Description
Technical field
The utility model photogrammetric technology field, particularly a kind of no control figure up short system.
Background technology
In the digital close range photogrammetry developing stage, the development of measuring system plays leading position, with camera and transit or total powerstation (ETS, Electronic Total Station, have another name called full site type electronic tachometer) integrated be of long duration, from the seventies in 20th century, just having occurred camera and mechanical transit linked together is used for the instrument of topographical surveying (topographic survey), but enter digital Age along with photogrammetric, these instruments are eliminated gradually.
Total powerstation, promptly full site type electronic tachometer.Being a kind of light harvesting, mechanical, electrically being the hi-tech surveying instrument of one, is to catchment the straight angle, vertical angle, distance (oblique distance, flat apart from), vertical survey function in the instrument of surveying and mapping system of one.
Electronic total station is widely used in the surveying work, and present electronic total station all is based on infrared distance measurement mode pointwise ground basically and measures, and can adopt the snapshot mode to realize the collection of rapid data based on the electronic total station of CCD camera style.Photography total powerstation system is a kind of brand-new Digital Photogrammetric System, this system is installed in the scalability digital camera on the total powerstation, be equipped with the photogrammetric software of respective digital, constitute an integrated system that comprises total powerstation, scalability digital camera, calibration bar and digital photogrammetry software.
The people such as Carl Gravel of Canada Universit have developed a cover area of computer aided Digital Photogrammetric System (Computer Assisted Photogrammetry System is called for short CAPS) nineties.Digital camera is installed on the support of total powerstation horizontal cross shaft in this system, photogrammetric technology is improved, but the camera after integrated can not vertically rotate with collimation axis, inconvenient the target of differing heights is measured, taken.
The photography total powerstation that TOPCON company releases, digital camera and total powerstation height are integrated, it is integrated 2 CCD (Charge-Coupled Device, charge-coupled image sensor) cameras, a wide-angle and long Jiao.Though measuring coordinate and image data can synchronous recording, be still during operation according to control earlier afterwards the traditional mode of broken portion carry out.
The three-dimensional laser scanner that Leica company produces, built-in high-resolution digital camera, scanning distance within 1-300m, but because of its generation be point cloud chart, can not directly obtain digitized video, need special software processes.Simultaneously to the analyzing and processing of data, need other data source of stack just can obtain ideal effect, and apparatus expensive.
China is the photography total powerstation system of research and development in the recent period, comprise total powerstation and measure digital camera, digital camera is connected with the telescopical top of total powerstation by bindiny mechanism, and is provided with the balance device that makes digital camera and the telescope equal energy balance and stability at the different angle place.This system can not be that field operation is obtained the incorporate instrument of three-dimensional information, because it still needs to lay the reference mark of some before data are obtained.
As shown in Figure 1, be the photogrammetric process flow diagram of prior art, as can be seen from the figure, prior art is according to first control survey, measures the smashed parts again, carries out interior industry processing, three-dimensional modeling according to the control survey and the data that obtain of measuring the smashed parts.
In realizing process of the present utility model, the inventor finds that there is following problem at least in prior art:
The Digital Photogrammetric System that prior art adopts, the reference mark that need before obtaining data, lay some, and because the structure limitation of digital camera in the system and total powerstation, camera can not vertically be done synchronous rotation with the collimation axis of total powerstation.
Summary of the invention
The utility model embodiment provides a kind of no control figure up short system, with space orientation technique GPS (GPS, Global Positioning System), remote sensing (RS, Remote Sensing), Geographic Information System (GIS, Geographic Information System), the i.e. set of " 3S " technology, its comprehensive utilization close-range photogrammetry theory, the CCD digital camera technology, the GPS technology, computer technology, digital photogrammetry technology and GIS technology etc., by integrated GPS, digital camera, electronic theodolite and personal digital assistant (PDA, Personal Digital Assistant) hardware device such as, need not Ground Control, creatively realize the Three-dimension Target coordinate, the disposable of information such as facade textures and attribute obtains.
For achieving the above object, the utility model embodiment provides a kind of no control figure up short system, comprise door pillar, electronic theodolite, digital camera, global position system GPS and personal digital assistant PDA, described electronic theodolite, described digital camera, described GPS are connected with described PDA respectively by communication cable; Described digital camera, described electronic theodolite and GPS are integrated on the door pillar by stationary installation respectively, and the object lens of described digital camera are connected by web member with the telescope of described electronic theodolite.
Wherein, described door pillar has a pallet, described digital camera connects the pallet of described door pillar by stationary installation, be fixed on the pallet of described door pillar, described pallet is fixed on by stationary installation on the sidewall of described door pillar, and described pallet can rotate around the tie point B of described stationary installation in the vertical direction.
Wherein, described GPS is arranged at the top of described door pillar, is connected with described door pillar by stationary installation.
Wherein, described electronic theodolite is arranged at the below of described door pillar, and with described digital camera in the vertical direction one fixed range is arranged apart.
Wherein, this system is connected with tripod by stationary installation, is fixed on the supporting plate of tripod.
Wherein, the telescope of described digital camera and described electronic theodolite is synchronous serial verb construction, and the offset between camera and the transit can obtain by calibration.
Wherein, the tie point C of the tie point B of the tie point A of the object lens of described digital camera and web member, described digital camera and described pallet, described electronic theodolite and door pillar and the tie point D of telescope and web member, this four points of connection in the vertical direction is formed the synchronous serial verb construction of parallelogram.
Wherein, in the vertical direction, the object lens posterior nodal point center O of described digital camera
1, theodolite telescope rotation center O
2And the vertical axis of gps antenna is located on the same line.
Wherein, described stationary installation is a bolt.
Compared with prior art, the utility model embodiment has the following advantages:
The no control figure up short system that the utility model provides is that the data that integrate space orientation technique, close-shot photography measure technique, serial port communication technology are obtained platform fast.This system breaks traditions and measures the work pattern of the broken portion in control back earlier, make full use of advanced surveying and mapping technology, realize that close-range photogrammetry field work is integrated, be control survey and measure the smashed parts and carry out simultaneously, need not to lay the reference mark before the survey, need not to keep the reference mark after the survey, obtain three-dimensional coordinate and the texture image of surveying object in the district fast, reduce labour intensity, improve the automaticity and the efficient of engineering survey, realize the three-dimensional modeling of subject, satisfy that the user is visual, digitizing and informationalized needs.
Description of drawings
In order to be illustrated more clearly in the technical scheme of the utility model embodiment, the accompanying drawing of required use is done to introduce simply in will describing embodiment below, apparently, accompanying drawing in describing below only is embodiment more of the present utility model, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the photogrammetric operational flowchart of prior art;
A kind of no control figure up short system side TV structure synoptic diagram that Fig. 2 provides for the utility model embodiment;
Fig. 3 faces structural representation for a kind of no control figure up short system that the utility model embodiment provides;
Fig. 4 is the telescopical syndeton synoptic diagram of the utility model embodiment digital camera object lens and electronic theodolite;
Fig. 5 is the utility model embodiment digital camera object lens with the structural representation behind fixed angle of telescope rotation of electronic theodolite;
Fig. 6 is the structural representation of the utility model embodiment GPS;
Fig. 7 does not have the cable connection layout between the equipment of control figure up short system for the utility model embodiment;
Fig. 8 does not have the workflow diagram of control figure up short system for the utility model embodiment;
Fig. 9 is the system works mode chart of the utility model embodiment field operation;
Figure 10 does not have the interior industry workflow diagram of control figure up short system for the utility model embodiment.
Embodiment
Below in conjunction with the accompanying drawing among the utility model embodiment, the technical scheme among the utility model embodiment is clearly and completely described, obviously, described embodiment only is a part of embodiment of the present utility model, rather than whole embodiment.Based on the embodiment in the utility model, those of ordinary skills are not making the every other embodiment that is obtained under the creative work prerequisite, all belong to the scope of the utility model protection.
The utility model embodiment provides a kind of no control figure up short system, as shown in Figure 2, comprise door pillar, electronic theodolite, digital camera, global position system GPS and personal digital assistant PDA, described electronic theodolite, described digital camera, described GPS are connected with described PDA respectively by communication cable; Described digital camera, described electronic theodolite and GPS are integrated on the door pillar by stationary installation respectively, and the object lens of described digital camera are connected by web member with the telescope of described electronic theodolite.
Wherein, described door pillar has a pallet, described digital camera connects the pallet of described door pillar by stationary installation, be fixed on the pallet of described door pillar, described pallet is fixed on by stationary installation on the sidewall of described door pillar, and described pallet can rotate around the tie point B of described stationary installation in the vertical direction.
Wherein, described GPS is arranged at the top of described door pillar, is connected with described door pillar by stationary installation.
Wherein, described electronic theodolite is arranged at the below of described door pillar, and with described digital camera in the vertical direction one fixed range is arranged apart.
Wherein, this system is connected with tripod by stationary installation, is fixed on the supporting plate of tripod.
Wherein, described digital camera and described electronic theodolite are synchronous serial verb construction, and the offset between camera and the transit can obtain by calibration.
Wherein, the tie point C of the tie point B of the tie point A of the object lens of described digital camera and web member, described digital camera and described pallet, described electronic theodolite and door pillar and the tie point D of telescope and web member, this four points of connection in the vertical direction is formed the synchronous serial verb construction of parallelogram.
Wherein, described PDA has following function,
The observation data of storage GPS, electronic theodolite;
Attribute information is gathered and management;
Wherein, in the vertical direction, the object lens posterior nodal point O of described digital camera
1, theodolite telescope rotation center O
2And the vertical axis of gps antenna is located on the same line.
Wherein, described stationary installation is a bolt.
The no control figure up short system that the utility model provides is that the data that integrate space orientation technique, close-shot photography measure technique, serial port communication technology are obtained platform fast.This system breaks traditions and measures the work pattern of the broken portion in control back earlier, make full use of advanced surveying and mapping technology, realize that close-range photogrammetry field work is integrated, be control survey and measure the smashed parts and carry out simultaneously, need not to lay the reference mark before the survey, need not to keep the reference mark after the survey, obtain three-dimensional coordinate and the texture image of surveying object in the district fast, reduce labour intensity, improve the automaticity and the efficient of engineering survey, realize the three-dimensional modeling of subject, satisfy that the user is visual, digitizing and informationalized needs.
Below provide a kind of no control figure up short system to specifically describe to the utility model embodiment, this system comprises GPS 100, digital camera 200, electronic theodolite 300 and PDA 400, wherein GPS 100, digital camera 200 and electronic theodolite 300 are separately fixed on the door pillar 500, the object lens 210 of digital camera 200 flexibly connect by web member 700 with the telescope 310 of electronic theodolite 300, the object lens 210 of digital camera 200 can be with telescope 310 rotation jointly in perpendicular, and the angle that the object lens 210 of digital camera 200 rotate through equals the angle that telescope 310 rotates through.
Please in the lump with reference to shown in Figure 3, door pillar 500 is " door " font semi-surrounding structure, and GPS 100 is bolted to connection at door pillar 500 tops, is used for receiving satellite signal, determines photo centre's coordinate of camera in the system according to the satellite-signal that receives.Electronic theodolite 300 is arranged at door pillar 500 bottoms, is connected with door pillar 500 by bolt equally.
Digital camera 200 by bolt on the pallet of door pillar 500, and the bolt by pallet both sides and bottom, pallet is fixed on the door pillar 500, and is positioned at door pillar 500.Below pallet, electronic theodolite 300 is set, same electronic theodolite 300 is bolted to connection with door pillar 500.
Shown in Fig. 2,3, the telescope 310 of transit is connected by web member 700 with the object lens 210 of digital camera 200, and digital camera 200 and electronic theodolite 300 connect to form a rigid body.
As shown in Figure 4, the object lens 210 of digital camera 200 are connected by active connection 700 with telescope 310, structural member, telescope 310, the camera lens part of digital camera 200 and door pillar 500 are positioned at digital camera 200 and form a quadrilateral with the center section of telescope 310, these tetragonal four limits are respectively the tie point A of digital camera 200 object lens 210 and web member 700 to the distance A B of digital camera 200 with the tie point B of pallet, the tie point B of digital camera 200 and pallet to the tie point C of electronic theodolite 300 and door pillar 500 apart from BC, the tie point C of electronic theodolite 300 and door pillar 500 is to the distance C D of telescope 310 with the tie point D of web member 700, the tie point D of telescope 310 and web member 700 is to the object lens 210 of digital camera 200 and the distance D A of the tie point A of web member 700
Make AB=CD, and AD=BC, according to the decision principle of " quadrilateral that opposite side all equates is a parallelogram " of parallelogram, this quadrilateral is a parallelogram as can be known.
Shown in Fig. 4,5, when telescope 310 when vertical direction rotates through a fixed angle α, can learn by the principle that the parallelogram opposite side is parallel to each other, the horizontal center line of the camera lens part of digital camera 200 and the camera lens horizontal center line keeping parallelism of telescope 310, therefore, the camera lens of digital camera 200 part is also rotated a fixed angle α.
Web member 700 connects the object lens 210 of digital camera 200 and the telescope 310 of electronic theodolite 300, guarantees that transit and digital camera 200 can rotate synchronously in level and vertical direction.Keep level with the focus axis of maintenance digital camera 200 and the camera lens axis of telescope 310 always, make digital camera 200 and telescope 310 be synchronous serial verb construction.
Serial verb construction is meant that trying hard to recommend action outside uses down synchronously, and its rotary middle point remains unchanged, and orientation angle all keeps the structure of same stepping, parallelogram state in this system.
This system opens the support of tripod when installing, support debugging is made electronic theodolite 300 is positioned on the supporting plate at tripod top after the supporting plate level of tripod that bolt passes the supporting plate of tripod and being threaded of base plate mesopore.By regulating the balance spiral of electronic theodolite 300 bottoms, make electronic theodolite 300 maintenance levels.
Electronic theodolite 300 comprises telescope 310, reading lens, vertical pivot, built-in scale and transit is fixed on bolt and other parts on the tripod.
Telescope 310 is mainly used in the formation collimation axis, forms collimation line when sighting target, so that accurately sight target.
Z-axis is used for when measuring angle then as the turning axle of this system instrument, is that the axle center is rotated with the Z-axis.
Transverse axis is used for the rotating shaft as telescope 310 pitching, so that sight the target of differing heights.
Horizontal dial is used for measuring horizontal angle on surface level, and keeps parallel with surface level in the middle of using.
Vertical circle is used for measuring vertical angle.
In addition, in order accurately to read circle reading, mircrometer gauge is arranged all on horizontal dial and vertical circle.
Transit with upper-part, except that the levelness dish, be collectively referred to as the alidade of transit, alidade can rotate around Z-axis.
The foot screw of the pedestal of instrument, horizontal dial, vertical axle sleeve and leveling instrument is the foundation of transit, is called pedestal.
Alidade is connected by the Z-axis of alidade and the Z-axis cover fit of pedestal with pedestal.
In order to record horizontal angle and vertical angle, transit not only will have above-mentioned various critical piece, and these parts also should be combined into an integral body by following relation.
(1) Z-axis and transversal bubble axle quadrature.Promptly when the alidade leveling bubble was placed in the middle, Z-axis was consistent with the survey station pedal line.
(2) Z-axis and horizontal dial quadrature and by its center.Like this, when Z-axis was consistent with the survey station pedal line, horizontal dial was just parallel with the survey station surface level, and the angle of measuring in the above is only correct horizontal angle.
(3) transverse axis and Z-axis quadrature, collimation axis and transverse axis quadrature, when Z-axis consistent with the survey station pedal line, pitching telescope 310, the formed face of collimation axis is only vertical sighting plane.
(4) transverse axis and vertical circle quadrature, and by its center.Satisfy this relation, consistent with the survey station pedal line when Z-axis, during the transverse axis level, vertical circle just was parallel to the vertical sighting plane of survey station, and the angle of measuring on it is only correct vertical angle.
The above-mentioned relation of each critical piece of transit generally speaking, is exactly the relation between three (Z-axis, transverse axis, collimation axiss) two dishes (horizontal dial and vertical circle), in case the relation between them is destroyed, just will bring error to angular observation.
Digital camera 200 is installed in the top of transit, and has a fixed range with the top of transit, too near apart from digital camera 200 with the top that prevents transit, when digital camera 200 rotated at vertical direction, transit hindered the rotation route of digital camera 200.
In native system, digital camera 200 is by on the pallet that is fixed in door pillar 500, digital camera 200 directly is fixed on the door pillar 500, but digital camera 200 is fixed in door pillar 500 is not easy to assembling, and in the time of need changing digital camera 200 for different demands, be difficult for carrying out the replacing of digital camera 200, be unfavorable under the environment of conversion, carrying out operation.
After digital camera 200 is loaded in this system,, can carries out aim target easily and take website by telescope 310 aimings.
Please continue above digital camera 200, GPS 100 to be set, be used for receiving satellite signal, to determine the coordinate of photo centre with reference to shown in Figure 2.
As shown in Figure 3, in the vertical direction, the object lens 210 posterior nodal point center O of digital camera 200
1, telescope 310 rotation center O
2And the signal receiving unit of GPS 100 (promptly, antenna) axis is located on the same line, be that the axis of GPS 100 and the axis of digital camera 200 coincide, the axis of the axis of GPS 100 and electronic theodolite 300 coincides, the axis of electronic theodolite 300 and digital camera 200 coincides, and is the coordinate of digital camera 200 locas to guarantee the resulting coordinate of gps signal receiving element.
Obtain photo centre's coordinates by GPS 100, do not need to lay in advance the reference mark, also do not need to preserve afterwards, accomplish equal precision measurement, instant survey, promptly survey i.e. usefulness, raise the efficiency, reduced labour intensity, the traditional measurement work pattern is brought change.
As shown in Figure 6, wherein GPS 100 comprises gps signal receiving element 110 and GPS storage unit 120.Gps signal receiving element 110 is provided with antenna, is used to receive the signal of satellites transmits.GPS storage unit 120 is used to store the satellite information that is received by receiving element 110.
In actual applications, structure and the profile of GPS 100 have nothing in common with each other, and according to the needs of practical application, integrally-built optimization and attractive in appearance can separate setting with GPS storage unit 120 with gps signal receiving element 110, connects by cable between Unit two; In order to improve the integrated effect of system described in the utility model, reduce burden is installed, the mode that native system has adopted gps signal receiving element 110 and GPS storage unit 120 to integrate, but separate type can reach the same effect of native system.
By obtaining the locating information of GPS 100, transit and digital camera 200 are measured take pictures data and picture etc., need not lay the reference mark in advance, have realized the disposable extraction of information such as Three-dimension Target coordinate, facade textures and attribute.
Data, image information that locating information that GPS 100 obtains and transit 300 and digital camera 200 gathered are sent on the PDA 400 by cable, the cable connection layout between the equipment as shown in Figure 7, PDA400 stores and handles the information that receives.
According to the situation difference of concrete application, be provided with process software in PDA 400 inside, in order to the data of gathering are handled.The advantage of PDA 400 be light, small and exquisite, mobility is strong, does not simultaneously lose the powerful of function again, aspect wireless transmission, most of PDA 400 have infrared and blue tooth interface, to guarantee the convenience of wireless transmission.Many PDA 400 can also possess Wi-Fi (Wireless Fidelity, Wireless Fidelity) and connect.
PDA 400 comprises:
Information receiving unit is used to receive the information of transmission, and this unit comprises input interface and input media, and input media can be keyboard, inputting interface etc.
Information memory cell is used for the information that the canned data receiving element receives;
Information process unit is used for the information of information memory cell or information receiving unit is handled;
Information transmitting unit is used for sending information to other equipment;
Information display unit is used for result and other information of display process.
Wherein, information memory cell also is used for the information after the canned data processing unit processes.
GPS 100 and digital camera 200 are connected to PDA 400 by cable, PDA 400 utilizes the information of GPS 100 and digital camera 200 can measure the three-dimensional coordinate data of form point at random or culture point quickly and accurately, and then the drawing three-dimensional digital topography map, set up Geographic Information System GIS; Can easily finish equally the engineering field from drawing on the spot (setting-out) and from the spot to all mapping operations of computing machine (mapping).
The technical pattern of native system is:
Electronic theodolite+measurement digital camera+GPS+PDA, wherein electronic theodolite, measurement digital camera and GPS are closely integrated, and electronic theodolite+measurement digital camera+GPS is integrated.
It is advantageous that:
(1) integrated High Level: the integrated multinomial hardware device that comprises GPS, measures digital camera, electronic theodolite, PDA;
(2) no Ground Control: need not the measurement pattern of traditional broken portion in the back of control earlier, abbreviate, save time, reduce cost;
(3) disposable extraction: can realize the disposable extraction of Three-dimension Target, texture and attribute information, this be at present both at home and abroad instrument never overcome;
(4) applied range: can satisfy three-dimensional visualization, digitized demands such as hydraulic and electric engineering, geology, historical relic's protection, Geographic Information System, urban construction, traffic, house property, planning.
The technical characterstic of native system can reach many baselines, many images, and increasingly automated accurate coupling realizes real noncontacting measurement, need not to lay near subject the reference mark.And with in the measurements such as the actual engineering of photogrammetric introducing, electronic theodolite high precision and photogrammetric very abundant image information are combined, provide more applications field and benefit to the user.During the actual engineering of photogrammetric introducing etc. are measured, very big part field operation photography task is become the automation mechanized operation of interior industry computer camera Survey Software.Not only greatly reduced manpower and alleviated labour intensity, and improved greatly work efficiency, reduction of erection time.
Digital camera is combined with transit, can give full play to engineering survey and photogrammetric advantage, utilize the measurement of angle of transit and the exact position of GPS, can realize real noncontacting measurement, consider that simultaneously digital photogrammetry can realize accurately coupling, realizes the robotization of reference mark identification, therefore, it will greatly promote the development of digital close range photogrammetry, for new application is opened up in mapping.
Native system can also dispose some utility appliance as:
Little tape measure is used to measure the height of gps antenna;
Tape measure is used to measure the distance between adjacent survey station;
Triangular prism between gps antenna and digital camera, is used to carry out the axis debugging;
Tripod is used for supporting and the balance total system.
The requirement that this system instrument is integrated:
1) integrated level wants high.After instrument was integrated, mutual displacement can not occur transfinited, and the side-play amount of displacement is tending towards constant as far as possible;
2) extensibility.Between camera and gps antenna, embed triangular prism as the later stage, be convenient to the data processing in later stage;
3) mutual interface unit adopts metal device, considers the stable of side-play amount, the project organization manuscript;
4) the integrated of instrument is not perfectly rigid body, and can dismantle each other is an independently integral body, is convenient to individual processing and obtains.Can photograph separately as camera, carry out the mensuration of elements of interior orientation separately; Transit can carry out some calibrations separately, data download, and during simultaneously indoor programming communication, also can individual processing; GPS also can work alone, and supports the storage and the derivation of data;
5) during the system integration, take into full account the horizontal and vertical position of gps antenna.Because the data that GPS receives are three-dimensional coordinates of the phase center of gps antenna, are not to be the geometric center of gps antenna, therefore, the system integration will consider that the off-centre of gps antenna corrects.
As shown in Figure 8, workflow diagram for native system, workflow comprises field operation operation and the operation of interior industry, wherein the field operation operation is to obtain coordinate information, angle information, texture information etc. by GPS, transit and digital camera, finish the collection of field operation information, realize that the integrated of field data obtains.
The system works mode chart of field operation as shown in Figure 9, this system is when the mode of operation of field operation, at first select open position to install and set up instrument, the gps signal that utilizes the GPS receiver of instrument tip to obtain, through the differential GPS location technology, obtain stereophotogrammetry and calculate the required website coordinate information of taking the photograph; Electronic theodolite records horizontal angle and vertical angle, and digital camera is taken object, should guarantee the degree of overlapping of two photos 60%～80% during shooting.
The instrument general assembly (TW) is no more than 15 kilograms, 2 seconds levels of transit angle measurement accuracy, and 2～3 centimetres of GPS bearing accuracies measure 0.3～15 centimetre of camera image object space resolution, 0.1～0.2 meter of bearing accuracy, high-lager building is no more than 0.5 meter.
1.GPS difference bearing accuracy
RTK (Real-time kinematic, carrier phase dynamic real-time difference) mode: centimetre-sized bearing accuracy;
Static mode: centimetre in addition millimeter level bearing accuracy;
2. observed range
5～300 meters of camera observed ranges, 10～100 meters of common distance
3. estimate the object space geometric accuracy by the resolution of digital camera
With Rollei d7 is example, and focal length is 7 μ m, the estimation precision that distance is 10～100 meters, and 0.9～9 centimetre of object space resolution, photogrammetric geometric accuracy are better than 0.1 meter;
4. transit angle measurement accuracy
2 seconds levels, precision is 1 millimeter on 100 meters observed ranges, and the baseline initial direction can be brought about 2 seconds error, and synthesis precision is 3 millimeters, reaches 0.1 pixel;
5. the object space measuring accuracy of integrated system
5～10 meters last observation precision targets of distance (0.2～2m): the geometric accuracy centimetre-sized;
10～100 meters distance observation common building things: 0.1～0.2 meter of geometric accuracy.
The interior industry workflow diagram of system after the data input, carries out pre-service to image as shown in figure 10, pass through automatic interior orientation, relative orientation then respectively, aerotriangulation is encrypted, and encrypts coupling, 3 d surface model is rebuild, form the triangulation network, generate DEM (Digital Elevation Model, digital elevation model), DOM (Digital Orthophoto Map, digital orthophoto map), the model that generates is carried out three-dimensional visualization handle, the project that promptly can be used to carry out is used.
According to the close-range photogrammetry principle, two diverse locations are photographed to same target with measuring camera on ground, and it is right to constitute the stereopsis picture, calculates the Three-dimension Target geometric data by measuring the image two-dimensional coordinate in calculating, thereby realizes the planar survey of target.
Wherein, in workflow, also used new theory and method:
1) can carry out bulk treatment to photographic image by the zone, and no longer press the processing mode of traditional close-range photogrammetry single model;
2) directly import elements of exterior orientation, carry out space intersection.Take the photograph station coordinates as outer orientation line element value with what GPS recorded, transit records angle value as initial value, after obtaining foreign side's parallactic angle element value after the coordinate conversion, carries out the free net adjustment;
3) adopted new matching system, can accept poor than big long shot and close shot, its result is better than the matching algorithm based on " relaxation method ";
4) similar to laser scanner, new matching system can produce intensive some cloud, and this to earthwork measurement, side slope measurement etc. highly significant, and is also extremely important to follow-up Model Reconstruction.
The no control figure up short system that the utility model provides is that the data that integrate space orientation technique, close-shot photography measure technique, serial port communication technology are obtained platform fast.This system breaks traditions and measures the work pattern of the broken portion in control back earlier, make full use of advanced surveying and mapping technology, realize that close-range photogrammetry field work is integrated, be control survey and measure the smashed parts and carry out simultaneously, need not to lay the reference mark before the survey, need not to keep the reference mark after the survey, obtain three-dimensional coordinate and the texture image of surveying object in the district fast, reduce labour intensity, improve the automaticity and the efficient of engineering survey, realize the three-dimensional modeling of subject, satisfy that the user is visual, digitizing and informationalized needs.
Above-mentioned module can be distributed in a device, also can be distributed in multiple arrangement.Above-mentioned module can be merged into a module, also can further split into a plurality of submodules.
Through the above description of the embodiments, those skilled in the art can be well understood to the utility model and can realize by hardware, also can realize by the mode that software adds necessary general hardware platform.Based on such understanding, complete skill scheme of the present utility model is by hardware product and the common realization of software product, it (can be CD-ROM that its software product can be stored in a non-volatile memory medium, USB flash disk, portable hard drive etc.) in, comprise some instructions with so that computer equipment (can be personal computer, server, the perhaps network equipment etc.) carry out the described method of each embodiment of the utility model.
It will be appreciated by those skilled in the art that accompanying drawing is the synoptic diagram of a preferred embodiment, module in the accompanying drawing or flow process might not be that enforcement the utility model is necessary.
It will be appreciated by those skilled in the art that the module in the device among the embodiment can be distributed in the device of embodiment according to the embodiment description, also can carry out respective change and be arranged in the one or more devices that are different from present embodiment.The module of the foregoing description can be merged into a module, also can further split into a plurality of submodules.
Above-mentioned the utility model embodiment sequence number is not represented the quality of embodiment just to description.
More than disclosed only be several specific embodiment of the present utility model, still, the utility model is not limited thereto, any those skilled in the art can think variation all should fall into protection domain of the present utility model.
Claims (9)
1. no control figure up short system, comprise door pillar, electronic theodolite, digital camera, global position system GPS and personal digital assistant PDA, it is characterized in that described electronic theodolite, described digital camera, described GPS are connected with described PDA respectively by communication cable; Described digital camera, described electronic theodolite and GPS are integrated on the door pillar by stationary installation respectively, and the object lens of described digital camera are connected by synchronous linkage part with the telescope of described electronic theodolite.
2. no control figure up short as claimed in claim 1 system, it is characterized in that, described door pillar has a pallet, described digital camera connects the pallet of described door pillar by stationary installation, be fixed on the pallet of described door pillar, described pallet is fixed on by stationary installation on the sidewall of described door pillar, and described pallet can rotate around the tie point B of described stationary installation in the vertical direction.
3. no control figure up short as claimed in claim 1 system is characterized in that described GPS is arranged at the top of described door pillar, is connected with described door pillar by stationary installation.
4. no control figure up short as claimed in claim 1 system is characterized in that described electronic theodolite is arranged at the below of described door pillar, and with described digital camera in the vertical direction one fixed range is arranged apart.
5. no control figure up short as claimed in claim 1 system is characterized in that this system is connected with tripod by stationary installation, is fixed on the supporting plate of tripod.
6. no control figure up short as claimed in claim 1 system is characterized in that the telescope of described digital camera and described electronic theodolite is synchronous serial verb construction, and the offset between camera and the transit can obtain by calibration.
7. no control figure up short as claimed in claim 1 system, it is characterized in that, the tie point C of the tie point B of the tie point A of described digital camera and web member, described digital camera and described pallet, described electronic theodolite and door pillar and the tie point D of telescope and web member, this four points of connection in the vertical direction is formed a parallelogram serial verb construction.
8. no control figure up short as claimed in claim 1 system is characterized in that in the vertical direction, the object lens posterior nodal point center O of described digital camera
1, theodolite telescope rotation center O
2And the vertical axis of gps antenna is located on the same line.
9. as each described no control figure up short system of claim 1-8, it is characterized in that described stationary installation is a bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2009201449366U CN201488732U (en) | 2009-03-06 | 2009-03-06 | Non-control digital close-range photographing system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201449366U CN201488732U (en) | 2009-03-06 | 2009-03-06 | Non-control digital close-range photographing system |
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|---|---|
| CN201488732U true CN201488732U (en) | 2010-05-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009201449366U Expired - Lifetime CN201488732U (en) | 2009-03-06 | 2009-03-06 | Non-control digital close-range photographing system |
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| CN (1) | CN201488732U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101900552A (en) * | 2010-06-21 | 2010-12-01 | 中国人民解放军国防科学技术大学 | Longitude-latitude camera videogrammetric method and system |
| CN102494673A (en) * | 2011-11-15 | 2012-06-13 | 中测新图(北京)遥感技术有限责任公司 | Aerial photography partitioning method |
| CN103411588A (en) * | 2013-08-27 | 2013-11-27 | 李雨顺 | Full-digital land photography and surveying system |
| CN104964673A (en) * | 2015-07-15 | 2015-10-07 | 上海市房地产科学研究院 | Close-shot photography measurement system capable of realizing positioning and attitude determination and close-shot photography measurement method capable of realizing positioning and attitude determination |
| CN105371827A (en) * | 2015-10-13 | 2016-03-02 | 同创智慧空间（北京）科技有限公司 | Full-functional GNSS stereo camera surveying instrument |
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- 2009-03-06 CN CN2009201449366U patent/CN201488732U/en not_active Expired - Lifetime
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| CN101900552A (en) * | 2010-06-21 | 2010-12-01 | 中国人民解放军国防科学技术大学 | Longitude-latitude camera videogrammetric method and system |
| CN101900552B (en) * | 2010-06-21 | 2012-12-12 | 中国人民解放军国防科学技术大学 | Longitude-latitude camera videogrammetric method and system |
| CN102494673A (en) * | 2011-11-15 | 2012-06-13 | 中测新图(北京)遥感技术有限责任公司 | Aerial photography partitioning method |
| CN102494673B (en) * | 2011-11-15 | 2013-08-14 | 中测新图(北京)遥感技术有限责任公司 | Aerial photography partitioning method |
| CN103411588B (en) * | 2013-08-27 | 2016-01-20 | 李雨顺 | Land full digital photogrammetric system |
| CN103411588A (en) * | 2013-08-27 | 2013-11-27 | 李雨顺 | Full-digital land photography and surveying system |
| CN104964673A (en) * | 2015-07-15 | 2015-10-07 | 上海市房地产科学研究院 | Close-shot photography measurement system capable of realizing positioning and attitude determination and close-shot photography measurement method capable of realizing positioning and attitude determination |
| CN105371827A (en) * | 2015-10-13 | 2016-03-02 | 同创智慧空间（北京）科技有限公司 | Full-functional GNSS stereo camera surveying instrument |
| CN108107462A (en) * | 2017-12-12 | 2018-06-01 | 中国矿业大学 | The traffic sign bar gesture monitoring device and method that RTK is combined with high speed camera |
| CN108107462B (en) * | 2017-12-12 | 2022-02-25 | 中国矿业大学 | RTK and high-speed camera combined traffic sign post attitude monitoring device and method |
| CN109163714A (en) * | 2018-09-28 | 2019-01-08 | 宁波广天建通工程管理有限公司 | Measurement and positioning coordinate transformation device and its construction method under MODEL OVER COMPLEX TOPOGRAPHY |
| CN109163714B (en) * | 2018-09-28 | 2020-09-08 | 宁波广天建通工程管理有限公司 | Measuring and positioning coordinate conversion device under complex terrain condition and construction method thereof |
| CN110567442A (en) * | 2019-07-10 | 2019-12-13 | 桂林理工大学 | GNSS close-range photogrammetry method without object control point |
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