CN201964875U - Distant target observing system - Google Patents
Distant target observing system Download PDFInfo
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- CN201964875U CN201964875U CN2011200069583U CN201120006958U CN201964875U CN 201964875 U CN201964875 U CN 201964875U CN 2011200069583 U CN2011200069583 U CN 2011200069583U CN 201120006958 U CN201120006958 U CN 201120006958U CN 201964875 U CN201964875 U CN 201964875U
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Abstract
The utility model discloses a distant target observing system, which comprises a reference standard collector, an image collecting device and an image processor, wherein the reference standard collector comprises three laser range finders which are used for obtaining the distances between three laser points and the range finders by emitting laser to the surface where the target object are located, and laser emitting directions of the three laser range finders are mutually parallel; the image collecting device is used for obtaining the image of the target object in the optical axis direction of the image collecting device, and the optical axis direction of the image collecting device is parallel with the laser emitting directions; and the image processor is used for computing the average distance and the homography matrix of the imaging surface and the to-be-observed surface according to the obtained distance of the three laser points, and the actual size of the target object is computed according to the average distance, the homography matrix and the size of the target object in the image. By adopting the distant target observing system provided by the utility model, a distant object can be observed, and the actual size of the distant target can be computed.
Description
Technical field
The utility model relates to measuring technique, relates in particular to a kind of distant object recording geometry.
Background technology
The in-site measurement technology is widely used in industry, as the dimensional measurement of body surface, the measurement of body surface gap size etc., but the in-site measurement technology has limitation, can't use in some occasions, as the surface observation of remote landmark, concrete body gap observation.Be that example describes in detail with the concrete body Crack Detection below.
Crack Detection is the work that bridge detects, the aging context of detection of building must often be carried out, it is meant that mainly the size to the distress in concrete of building surface detects, available coagulation soil cracking seam detection technique generally is based on site work, for example, fracture width is to guide, crack microscope etc., all be based on the operating personnel object to be detected is carried out in-plant detection, use multiplying arrangement to the crack pattern that observes look like to amplify, reading numerical values, according to enlargement factor and the numerical value that read the full-size(d) in crack is calculated again.
The following limitation of existing Crack Detection technology existence: existing detection method mainly relies on manually-operated, and error is general can't be measured greatly and to the object that can't touch at a distance.
The utility model content
The utility model provides a kind of distant object recording geometry, in order to the observation of realization to remote crack, and calculates its physical size.
The utility model provides a kind of distant object recording geometry, wherein, comprising:
The normative reference collector comprises three range finder using lasers, be used to launch laser to plane, target object place to obtain the distance between three laser spots and the range finder, the Laser emission direction of described three range finder using lasers is parallel to each other;
The image acquisition instrument is used for obtaining along the optical axis direction of image acquisition instrument the image of target object, and the optical axis direction of described image acquisition instrument is parallel with described Laser emission direction;
Image processor, be used for according to the distance calculation mean distance of three laser spots that get access to and the homography matrix between imaging plane and the tested plane, and calculate the physical size of described target object according to the target object size in described mean distance, described homography matrix and the described image.
Aforesaid distant object recording geometry, preferably, described image processor comprises: metrics calculation unit is used for the distance calculation mean distance according to three laser spots that get access to; The homography matrix computing unit is used for according to the distance calculation imaging plane of three laser spots that get access to and the homography matrix between the tested plane; The unit is eliminated in disturbance, is used to eliminate because the agitation error of the uneven image that produces of air heat density; Image correction unit is used for according to described homography matrix the target object of image being projected to the direct-view angle, obtains the image of target object under the direct-view angle; Picture search unit: the target object size that is used for obtaining image; Dimension calculating unit is used for the physical size that target object size and described mean distance according to described image calculate described target object.
Aforesaid distant object recording geometry, preferably: also comprise support, described support comprises bracing frame, holder, horizontal rotary components and vertical rotary components; Interconnect by vertical rotary components between described holder and the described image acquisition instrument; Described normative reference collector is fixed on the camera lens place of image acquisition instrument; Interconnect by horizontal rotary components between described holder and the support frame as described above.
Aforesaid distant object recording geometry, preferably: three range finder using lasers of described normative reference collector are the periphery that 120 degree are evenly distributed on described camera lens.
Aforesaid distant object recording geometry, preferably: described image acquisition instrument is a digital camera, possesses telephoto lens.
Aforesaid distant object recording geometry preferably, also comprises: gun sight is used for the residing position of observed object object; Light fixture is used for illumination.
The distant object recording geometry that the utility model provides, obtain the physical size and the relation of the multiple between the target object size in the captured image of target object by the normative reference collector, gather the image of target object by the image acquisition instrument, by image processor the image that collects is handled, and according to the physical size of the image calculation target object after handling.The distant object recording geometry that the utility model provides can realize the observation to remote object, and can calculate its physical size.
Description of drawings
The distant object recording geometry synoptic diagram that Fig. 1 provides for the utility model embodiment one.
The structural representation of image processor in the distant object recording geometry that Fig. 2 provides for the utility model embodiment one.
Reference numeral:
The 1-range finder using laser; 2-image acquisition instrument; The 3-image processor;
Plane, 4-target object place.
Embodiment
For the purpose, technical scheme and the advantage that make the utility model embodiment clearer, below in conjunction with the accompanying drawing among the utility model embodiment, technical scheme among the utility model embodiment is clearly and completely described, obviously, described embodiment is the utility model part embodiment, 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.
Embodiment one
The structural representation of the distant object recording geometry that Fig. 1 provides for the utility model embodiment one, the structural representation of image processor is elaborated to the utility model embodiment below in conjunction with Fig. 1 and Fig. 2 in the distant object recording geometry that Fig. 2 provides for the utility model embodiment one.The utility model embodiment provides a kind of distant object recording geometry, it comprises: the normative reference collector, three range finder using lasers 1 are arranged, to obtain the distance between three laser spots and the range finder using laser 1, the Laser emission direction of three range finder using lasers 1 is parallel to each other range finder using laser 1 emission laser to plane, target object place 4; Image acquisition instrument 2 obtains the image of target object along the optical axis direction of image acquisition instrument 2, and the optical axis direction of image acquisition instrument 2 is parallel with the Laser emission direction; Image processor 3 according to the distance calculation mean distance of three laser spots that get access to and the homography matrix between imaging plane and the tested plane, and calculates the physical size of target object according to the target object size in mean distance, homography matrix and the image.So-called imaging plane is meant the plane that eye point constituted of three range finder using lasers 1, and so-called tested plane is meant that three range finder using lasers 1 are transmitted into three planes that laser spots constituted on testee surface.The surface of actual object can not be smooth fully, as long as but can become the plane substantially, the distant object recording geometry that this enforcement new embodiment provides just is suitable for, the building bigger as the bridge opening equal diameter of bridge, the size on the surface of being observed, place, crack is compared little a lot with the bridge diameter, the surface of observing is regarded as the plane.
Multiple relation between the target object size in the image that image acquisition instrument 2 collects and the physical size of target object and imaging plane and tested interplanar distance are linear, the mean value of getting the distance that three range finder using lasers 1 of normative reference collector measure carries out normative reference and demarcates, obtain the enlargement factor of system, thereby can calculate the physical size of the target object that obtains long distance.
On the technique scheme basis, preferably, image processor 3 comprises: metrics calculation unit 31 is used for the distance calculation mean distance according to three laser spots that get access to; Homography matrix computing unit 32 is used for according to the distance calculation imaging plane of three laser spots that get access to and the homography matrix between the tested plane; Unit 33 is eliminated in disturbance, is used to eliminate because the agitation error of the uneven image that produces of air heat density; Image correction unit 34 is used for according to described homography matrix the target object of image being projected to the direct-view angle, obtains the image of target object under the direct-view angle; Picture search unit 35 is used for obtaining the target object size of image; Dimension calculating unit 36 is used for according to the target object size of image and the physical size of average distance calculation target object.
When observed range is far away, can observe the phenomenon of flow perturbation, this mainly is because air heat density inequality produces, need carry out disturbance to the image that collects this moment eliminates, be specially: continuous acquisition is saved in the image sequence to image, use the image that following algorithm restores does not have disturbance then: suppose to have gathered the N two field picture, want each the pixel I (i among the image restored I, j) gray-scale value calculates by the grey scale pixel value of correspondence position in the N frame continuous images, N gray-scale value is saved in V[N in the array] in, setting threshold T, the size of threshold value T is determined according to the actual measurement environment, determine in the present embodiment that threshold value T is 10,, seek maximum continuum index a～b less than T from index 0, this (b-a+1) individual value is averaged, mean value compose to I (i, j), thereby the image after obtaining disturbance and eliminating.
The object angle that the image acquisition instrument is gathered may be not and the testee Surface Vertical, and the scale error that causes for avoiding side direction to take pictures needs to use homography matrix that subject image is proofreaied and correct.The acquisition methods of homography matrix is: the location aware of three range finder using lasers in the distant object recording geometry, promptly the location aware of the exit plane of laser according to the distance that three range finder using lasers record, can be determined the plane at place, testee surface.Set coordinate system at imaging plane and tested plane, set initial point, obtain connecting the equation of transformation of initial point between four groups of interior point coordinate, calculate homography matrix by geometric relationship.By homography matrix, the subject image when captured body surface image rectification is taken for direct-view, thus eliminate the dimension of object error of taking pictures and causing because of the side.
Behind the image rectification, use automatic searching algorithm that object is searched for, to obtain the target object size in the image.With the crack search is that example describes: it is level and smooth at first the image after proofreading and correct to be carried out Gauss; Then image is handled with gradient operator; Again the gradient operator image is expanded and corrodes, expand and the number of times of corrosion for the pixel count that is converted into by the determined fracture width of range maximal value divided by 2; At last image is carried out binaryzation, carry out breadth extreme and length calculation,, and the result preserved with the number that obtains the crack, every crack length and breadth extreme along the direction in crack.
The distant object recording geometry that the utility model embodiment provides, be used for the planar object size with continuous surface is observed, be particularly useful for observation, can effectively measure, and calculate its physical size remote object to the distress in concrete size.
For discontinuous body surface, the distant object recording geometry that re-uses the utility model embodiment behind the plane of several successive and provide it can be provided observe.
Embodiment two
Present embodiment is based on embodiment one, and preferential is: the distant object recording geometry, also comprise support, and support comprises bracing frame, holder, horizontal rotary components and vertical rotary components; Interconnect by vertical rotary components between holder and the image acquisition instrument; The normative reference collector is fixed on the camera lens place of image acquisition instrument; Interconnect by horizontal rotary components between holder and the bracing frame.
Interconnect by vertical rotary components between holder and the image acquisition instrument 2, be used to regulate the elevation of image acquisition instrument; The normative reference collector is fixed on the camera lens place of image acquisition instrument 2, and then the normative reference collector can rotate with the camera lens of image acquisition instrument 2, thereby the optical axis direction that guarantees the image acquisition instrument is parallel with the Laser emission direction.Interconnect by horizontal rotary components between holder and the bracing frame, but holder lateral rotation then, thus driving the rotation of the image acquisition instrument 2 that connects on it, bracing frame is generally tripod.
On technique scheme, preferably, three range finder using lasers of normative reference collector are the periphery that 120 degree are evenly distributed on camera lens, are used to reduce error.
On technique scheme, preferably, the image acquisition instrument is that digital camera possesses telephoto lens, can change telephoto lens according to the distance of measuring distance, guarantees the sharpness of the image that obtains.
On technique scheme, preferably, the distant object recording geometry also comprises: gun sight, be used for the residing position of observed object object, and be convenient to the position that image acquisition instrument 2 is determined target object.Light fixture is used for illumination, can be convenient to take the dark place object, or under the darker situation of light shot object.
It should be noted that at last: above embodiment only in order to the explanation the technical solution of the utility model, is not intended to limit; Although the utility model is had been described in detail with reference to previous embodiment, those of ordinary skill in the art is to be understood that: it still can be made amendment to the technical scheme that aforementioned each embodiment put down in writing, and perhaps part technical characterictic wherein is equal to replacement; And these modifications or replacement do not make the essence of appropriate technical solution break away from the spirit and scope of each embodiment technical scheme of the utility model.
Claims (6)
1. a distant object recording geometry is characterized in that, comprising:
The normative reference collector comprises three range finder using lasers, be used to launch laser to plane, target object place to obtain the distance between three laser spots and the range finder, the Laser emission direction of described three range finder using lasers is parallel to each other;
The image acquisition instrument is used for obtaining along the optical axis direction of image acquisition instrument the image of target object, and the optical axis direction of described image acquisition instrument is parallel with described Laser emission direction;
Image processor, be used for according to the distance calculation mean distance of three laser spots that get access to and the homography matrix between imaging plane and the tested plane, and calculate the physical size of described target object according to the target object size in described mean distance, described homography matrix and the described image.
2. distant object recording geometry according to claim 1 is characterized in that, described image processor comprises:
Metrics calculation unit is used for the distance calculation mean distance according to three laser spots that get access to;
The homography matrix computing unit is used for according to the distance calculation imaging plane of three laser spots that get access to and the homography matrix between the tested plane;
The unit is eliminated in disturbance, is used to eliminate because the agitation error of the uneven image that produces of air heat density;
Image correction unit is used for according to described homography matrix the target object of image being projected to the direct-view angle, obtains the image of target object under the direct-view angle;
The picture search unit is used for obtaining the target object size of image;
Dimension calculating unit is used for the physical size that target object size and described mean distance according to described image calculate described target object.
3. distant object recording geometry according to claim 1 is characterized in that:
Also comprise support, described support comprises bracing frame, holder, horizontal rotary components and vertical rotary components;
Interconnect by vertical rotary components between described holder and the described image acquisition instrument;
Described normative reference collector is fixed on the camera lens place of image acquisition instrument;
Interconnect by horizontal rotary components between described holder and the support frame as described above.
4. distant object recording geometry according to claim 3 is characterized in that: three range finder using lasers of described normative reference collector are the periphery that 120 degree are evenly distributed on described camera lens.
5. distant object recording geometry according to claim 1 is characterized in that: described image acquisition instrument is a digital camera, possesses telephoto lens.
6. distant object recording geometry according to claim 1 is characterized in that, also comprises:
Gun sight is used for the residing position of observed object object;
Light fixture is used for illumination.
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| CN2011200069583U CN201964875U (en) | 2011-01-11 | 2011-01-11 | Distant target observing system |
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| CN2011200069583U CN201964875U (en) | 2011-01-11 | 2011-01-11 | Distant target observing system |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102538693A (en) * | 2012-02-14 | 2012-07-04 | 北京林业大学 | Vertical wood diameter detection method based on laser and vision technology |
| CN102620660A (en) * | 2012-04-17 | 2012-08-01 | 南京工业大学 | Ultra long-range detection method for cracks of buildings and structures |
| CN103499334A (en) * | 2013-09-05 | 2014-01-08 | 小米科技有限责任公司 | Method, apparatus and electronic instrument for distance measurement |
| CN104019772A (en) * | 2014-05-20 | 2014-09-03 | 泰安至诚公路工程监理咨询有限公司 | Bridge structure concrete surface voids and pits area tester and detection method |
| CN104655650A (en) * | 2015-01-27 | 2015-05-27 | 中国矿业大学 | Rigid cage guide defect detection method and detection method based on laser light screen scanning |
| CN104930976A (en) * | 2015-07-01 | 2015-09-23 | 河海大学 | Portable crack length-measuring apparatus and method |
| CN105021132A (en) * | 2015-07-15 | 2015-11-04 | 国家电网公司 | Laser non-contact type centrally-installed cabinet handcart contact stroke tester |
| CN106840007A (en) * | 2017-04-07 | 2017-06-13 | 赵�怡 | A kind of spacescan system and method for combination adjustable laser range finding probe array and intelligent terminal |
| CN111442758A (en) * | 2020-03-27 | 2020-07-24 | 云南电网有限责任公司玉溪供电局 | Laser speed and distance measuring device and method with distance increasing and telescoping functions |
| CN112461133A (en) * | 2020-11-25 | 2021-03-09 | 深圳市施罗德工业集团有限公司 | Dimension measuring and calculating method and device, image detection device and readable storage medium |
| CN113847879A (en) * | 2020-06-28 | 2021-12-28 | 中铁上海工程局集团有限公司 | Automatic monitoring system and method for convergence deformation of tunnel section |
| CN114719762A (en) * | 2022-06-08 | 2022-07-08 | 煤炭科学技术研究院有限公司 | Method and device for detecting plane junction surface gap of explosion-proof equipment |
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2011
- 2011-01-11 CN CN2011200069583U patent/CN201964875U/en not_active Expired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102538693B (en) * | 2012-02-14 | 2014-09-10 | 北京林业大学 | Vertical wood diameter detection method based on laser and vision technology |
| CN102538693A (en) * | 2012-02-14 | 2012-07-04 | 北京林业大学 | Vertical wood diameter detection method based on laser and vision technology |
| CN102620660A (en) * | 2012-04-17 | 2012-08-01 | 南京工业大学 | Ultra long-range detection method for cracks of buildings and structures |
| CN103499334B (en) * | 2013-09-05 | 2016-08-17 | 小米科技有限责任公司 | Distance measurement method, device and electronic equipment |
| CN103499334A (en) * | 2013-09-05 | 2014-01-08 | 小米科技有限责任公司 | Method, apparatus and electronic instrument for distance measurement |
| CN104019772A (en) * | 2014-05-20 | 2014-09-03 | 泰安至诚公路工程监理咨询有限公司 | Bridge structure concrete surface voids and pits area tester and detection method |
| CN104019772B (en) * | 2014-05-20 | 2017-03-29 | 泰安至诚公路工程监理咨询有限公司 | A kind of bridge structure concrete surface voids and pits area detecting method |
| CN104655650A (en) * | 2015-01-27 | 2015-05-27 | 中国矿业大学 | Rigid cage guide defect detection method and detection method based on laser light screen scanning |
| CN104655650B (en) * | 2015-01-27 | 2017-05-17 | 中国矿业大学 | Rigid cage guide defect detection method and detection method based on laser light screen scanning |
| CN104930976A (en) * | 2015-07-01 | 2015-09-23 | 河海大学 | Portable crack length-measuring apparatus and method |
| CN105021132A (en) * | 2015-07-15 | 2015-11-04 | 国家电网公司 | Laser non-contact type centrally-installed cabinet handcart contact stroke tester |
| CN106840007A (en) * | 2017-04-07 | 2017-06-13 | 赵�怡 | A kind of spacescan system and method for combination adjustable laser range finding probe array and intelligent terminal |
| CN111442758A (en) * | 2020-03-27 | 2020-07-24 | 云南电网有限责任公司玉溪供电局 | Laser speed and distance measuring device and method with distance increasing and telescoping functions |
| CN113847879A (en) * | 2020-06-28 | 2021-12-28 | 中铁上海工程局集团有限公司 | Automatic monitoring system and method for convergence deformation of tunnel section |
| CN112461133A (en) * | 2020-11-25 | 2021-03-09 | 深圳市施罗德工业集团有限公司 | Dimension measuring and calculating method and device, image detection device and readable storage medium |
| CN114719762A (en) * | 2022-06-08 | 2022-07-08 | 煤炭科学技术研究院有限公司 | Method and device for detecting plane junction surface gap of explosion-proof equipment |
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