CN205352322U - Large -scale complicated curved surface measurement system - Google Patents
Large -scale complicated curved surface measurement system Download PDFInfo
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- CN205352322U CN205352322U CN201620101654.8U CN201620101654U CN205352322U CN 205352322 U CN205352322 U CN 205352322U CN 201620101654 U CN201620101654 U CN 201620101654U CN 205352322 U CN205352322 U CN 205352322U
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Abstract
The utility model relates to a large -scale complicated curved surface measurement system, this measurement system include base, horizontal stand, every single move support and computer, the horizontal stand sets up on the base, and the every single move support is connected with the horizontal stand, is provided with camera, laser range finder and line laser emitter on the every single move support, sets up two in laser range finder's both sides the camera, the computer is connected with camera, laser range finder, line laser emitter electricity respectively. Utilizing this measurement system to go on through the mode that put to swash optical locating, line laser sampling, camera and obtain image data, obtaining the image through photographic mode, recycle the actual coordinate that the picture point was calculated to the photogrammetric survey principle, last number of pass carries out the data reconstruction of complicated curved surface under the same coordinate system according to the concatenation, and this measurement system and sampling method have simplified the measurement process under the circumstances of guaranteeing the precision, reduced the measurement number of times, have improved measurement of efficiency greatly.
Description
Technical field
This utility model relates to a kind of large complicated carved measurement system, especially relate to a kind of photogrammetric technology combine with laser technology obtain large complicated carved rule three-dimensional lattice measurement system.
Background technology
Along with the development of global economy, the market competition is growing more intense, and new technological revolution constantly makes progress and breaks through, and developing by leaps and bounds of technology has become as the key factor promoting world economic growth.In order to keep and strengthen product competitiveness commercially, the construction cycle of product, production cycle are shorter and shorter, promote industrial products increasingly to multi items, small lot, high-quality, low cost direction develop, there is complex-curved product get more and more, be widely used in the fields such as mould, instrument, the energy, traffic, Aero-Space, navigation.Complex-curved complexity is mainly reflected in: one, and the surface modeling that product is related to by many frontier branches of science, high-tech product field has significantly high required precision, for the purpose of the high accuracy reaching some mathematical feature；Its two, in modern society, the appearance and modeling of product, focusing on while product function, is proposed increasingly higher requirement, to pursue for the purpose of aesthetic effect or functional requirement by people.Therefore the research of curve reestablishing is also got more and more, reverse-engineering is using the material object of advanced product facility etc. as object of study, application modern commercial bank principle, production engineering, materialogy and relevant Professional knowledge carry out systematically analyzing and research, exploration its key technology of grasp, and then develop similar more product of the future.
The key technology of reverse-engineering mainly includes three aspects, and namely Surface Digitizing measures technology, technology of surface reconstruction and Machining of Curved Surface technology.Digital Measuring Technique utilizes various digitized measurement means to obtain the three-dimensional digital model of original material object (product prototype or plasticine model) exactly.In reverse-engineering, the measuring method of complex-curved entity mainly has contact type measurement method (such as three-dimensional coordinates measurement method) and noncontact measuring method (such as laser triangulation shape method, distance method, faultage image scanning method, photogrammetry etc.) two kinds.
Three-dimensional coordinates measurement method utilizes the detection contact (probe of various different-diameters and shape) of three coordinate measuring machine (CMM) to catch the surface data of exemplar point by point.The method is not for having complex internal die cavity, characteristic geometric dimension this measuring method of part many, only a small amount of characteristic surface highly effective.But owing to the method is contact type measurement, it is easy to damage is popped one's head in and scratches tested sample surface, it is impossible to soft material and ultrathin object measurement, discreet portions certainty of measurement being also affected by impact, range of application is restricted；All the time manual intervention is needed, it is impossible to realize all automatic measurement；Three-dimensional compensation problem is there is due to the radius of gauge head；And price is higher, there are certain requirements using environment；Measuring speed is slow, and efficiency is low.
Laser triangulation is according to optical triangulation shape principle, by laser projections to testee surface, the photoelectric sensor that dot matrix is arranged is adopted to accept the image space of laser in another location, the skew of imaging on object according to luminous point or Rhizoma Dioscoreae (peeled), calculates the depth information of object by the relation between testee base plane, picture point, image distance.Its measuring speed is fast, can directly measure impalpable high-precision workpiece, soft workpiece etc., but certainty of measurement depends on the resolution of lighting apparatus and the optical characteristics of measured surface.
Distance method is the time computed range utilizing light to fly, frequently with laser and pulsed light beam.Can measure large-sized object, but its test the speed slowly, workload big, measure extremely difficult.
Tomoscan image method is by carrying out tomography interface scanning to testee, with the attenuation quotient of X ray for foundation, reconstructs tomography cross-sectional image, can set up the three-dimensional information of object according to the faultage image of diverse location.Structure within testee and shape can be carried out nondestructive measurement by the method, but its cost is high, and the resolution measuring system is low, obtain data time long, and equipment volume is big, and the environmental requirement run is high.
By contrast, photogrammetry is according to same three dimensions point parallax in the image of two (or multiple) video cameras shooting of different spatial, and the space geometry relation between video camera obtains the D coordinates value of this point.Photogrammetry can to the target characteristic point measurement being in two common visuals field of (or multiple) video camera, and without scanning means such as servo control mechanisms, be a kind of non-destroyed measurement, is suitable to measure large complicated carved object.But the greatest problem of its existence is space characteristics point to be extracted and the problem such as the precision mated and accuracy in several digital pictures.In addition the view data obtained according to this kind of method, the cloud data obtained after processing and extracting reaches several million or tens of million, topological relation is not had between point, in order to meet the needs of curve reestablishing, these dot array datas it is generally required to through pretreatment, specifically include that multi-view combination, remove noise point, data interpolation, hole repair, data reduction, smooth and fairing etc..Through the dot array data of pretreatment, reconstructed surface model can be used for.Owing to dot array data preprocessing process is very numerous and diverse, less stable, it is difficult to ensure precision and the efficiency requirements of reconstructed surface.
Utility model content
For the deficiencies in the prior art, this utility model provides a kind of large complicated carved measurement system.
The technical solution of the utility model is as follows:
A kind of large complicated carved measurement system, including base, horizontal stand, tilt mount and computer；Described horizontal stand is arranged on base, tilt mount is connected with horizontal stand by rotating shaft, tilt mount is provided with camera, laser range finder and line laser transmitter, laser range finder and line laser transmitter are positioned on same vertical line, arrange two described cameras in the both sides of laser range finder, described computer electrically connects with camera, laser range finder, line laser transmitter respectively.
Preferably, the bottom of described horizontal stand is provided with Horizontal dividing dish.This design is advantageous in that, when rotating horizontal stand, can be known the angle being visually observed that horizontal stand rotates by Horizontal dividing dish.
Preferably, one end of described rotating shaft is connected to pitching index dial.This design is advantageous in that, can turn rotary luffing support by pitching index dial on the one hand, for adjusting pitch angle, can carry out accurate observation by the scale value on pitching index dial on the other hand and adjust luffing angle.
Preferably, two described cameras are symmetricly set on the both sides of laser range finder.
The method utilizing above-mentioned large complicated carved measurement system to carry out complex-curved sampling, comprises the following steps,
One, the data sampling in single-measurement region and resolving:
(1) testee outer surface is divided into n measured zone, each measured zone is an independent survey station, measurement system is placed on the dead ahead of a certain measured zone i, adjusts the position of measurement system, makes the boundary position of camera shooting in measurement system cover this measured zone i；
(2) determine the POS INT point of measurement in the upper left corner of measured zone i and determine the position terminating point of measurement in the lower right corner of measured zone i, start measurement system and be controlled by computer program, then measurement as follows:
1. laser range finder launch point laser is to measured zone i, regulate horizontal stand and tilt mount makes a laser vertical in the surface of measured zone i, this time point laser intersection point on measured zone i surface is as the reference position point of this survey station, to measure the system system spatial coordinates system when this position frame of reference as this survey station；
2. regulate horizontal stand and tilt mount and when making a laser be mapped to POS INT point and obtain this position, measure the pose coordinate of system；Regulate horizontal stand and tilt mount again and when making a laser be mapped to position terminating point and obtain this position, measure the pose coordinate of system；
3. scanning survey: horizontal step angle and the pitching step angle of measuring system when single station is measured are set, start according to the horizontal step angle arranged and pitching step angle from POS INT point, order progressive scan measured object outer surface according to " forward from left to right; reversely from right to left ", in scanning process, for the arbitrary scan location point Q of measured objectj, laser range finder launch point laser is to Qj, record corresponding laser ranging distance Lj, recording level support and tilt mount are respectively relative to the angle φ that reference position point turns over simultaneouslyjAnd ωj；Wherein a camera is taken pictures, it is thus achieved that some laser photo Gj, to close laser range finder, open line laser transmitter and launch line laser, two cameras are taken pictures simultaneously and are obtained two bracing cable laser photo LAjAnd LBj；It is then shut off line laser transmitter, opens laser range finder, horizontal stand or tilt mount one step angle of rotation and make one scan location point Q under a laser alignmentj+1Position is scanned measuring；It is scanned every one scan location point of measured zone i successively measuring, terminates to position terminating point, it is thus achieved that the some laser photo of respective scanned location point and line laser photo；
(3), after measured zone i scanning survey being completed, the three-dimensional lattice data of measured zone i are resolved:
1. initializing the element of two cameras and laser range finder point laser center, wherein every camera has 3 elements of interior orientation and 6 elements of exterior orientation: elements of interior orientation includes the principal point position x relative to image center0、y0And optical center is to the focal distance f of image plane, elements of exterior orientation includes 3 for describing the optical center line element X relative to system spatial coordinates system positionS, YS, ZSWith 3 for describing the image plane angle element in photography temporary airborne attitudeω, k, laser range finder point laser center coordinate in system spatial coordinates system is (0,0, Zcj)；
2. some laser photo G is readjMiddle location point QjCorresponding image coordinate (x1j, y1j)；According to (x1j, y1j) at line laser photo LAjThe middle image coordinate point determining its correspondence 1., by point 1. headed by sampled point P1, and it can be used as datum mark, sample at interval of △ y pixel respectively along the positive negative direction of y-axis, obtain one group of sampled point Pk(k=2,3,4 ...), then PkY-coordinate be ykj=y1j± (k-1) × △ y, its x coordinate is determined according to max pixel value principle；
3. another camera line laser photo LB is takenjThe y-coordinate of upper one group of sampled point and LAjIn the y-coordinate of one group of sampled point identical, determine its x coordinate according to max pixel value principle, finally determine this camera line laser photo LBjOne group of sampled point Ph(h=1,2,3,4 ...) and image coordinate be (xhj, yhj)；
(4) 3 the angle elements as follows (I), utilizing two cameras calculate its respective transition matrix R respectively:
Further according to the image coordinate of each sampled point, (x y), according to its three-dimensional coordinate (X, Y, Z) under current measurement position system spatial coordinates system of public formula II inverse, can try to achieve one group of sampled point P respectivelyk(k=1,2,3,4 ...) and Ph(h=1,2,3,4 ...) corresponding to space finite points Sk(k=1,2,3,4 ...) and Sh(h=1,2,3,4 ...)；
To space finite points Sk(k=1,2,3,4 ...) and Sh(h=1,2,3,4 ...) and on the coordinate of sampled point at two same position places average, obtain this scanning location point QjOne group of acquired sampled point three-dimensional coordinate S under system spatial coordinates systems(s=1,2,3,4 ...)；
(5) S that public formula III will resolve in step (4) out is utilizeds(s=1,2,3,4 ...) three-dimensional coordinate be transformed under the frame of reference of this survey station；
Sj=C+RjSs(III)
In formula, SjIt is one group of sampled point SsCoordinates matrix under this survey station frame of reference, Sj=[Xj, Yj, Zj]T；RjFor transformation matrix R, by scanning location point QjCorresponding angle (φj, ωj, 0) substitute into public formula I and try to achieve；SsIt is one group of sampled point SsCoordinate vector, C is constant matrices, C=[0,0, Zcj]T；
(6) each scanning location point Q is completed by step (2)-(5) described methodj(j=1,2,3 ...) and image data samples and resolving, finally give measured zone i three-dimensional lattice under this survey station frame of reference；
Two, the data splicing of adjacent measured zone:
(7) on the public territory that two adjacent measured zone are overlapping, arrange 9 splicing control point；
(8) utilize measurement system method described in ", the data sampling in single-measurement region and resolving " that measured zone i is measured, obtain this measured zone i three-dimensional lattice S under this survey station frame of referenceu(u=1,2,3,4 ...)；Keep measurement system at this survey station invariant position, adjusting measurement system makes its some laser launched be directed at 9 splicing control point successively, and utilize two cameras to obtain the view data at splicing control point, then according to the method described in ", the data sampling in single-measurement region and resolving " calculates 9 splicing control point corresponding point J under this survey station frame of reference1i(XJ1i,YJ1i,ZJ1i) (i=1,2,3,4 ..., 9)；
(9) measurement system moves on to the dead ahead of adjacent measured zone i+1, and the method described in ", the data sampling in single-measurement region and resolving " that is first according to obtains this measured zone i+1 three-dimensional lattice S under this survey station frame of referenced(d=1,2,3,4, ...), keep measurement system at this survey station invariant position, adjust measurement system and make its some laser launched be directed at 9 splicing control point successively, and utilize two cameras to obtain the view data at splicing control point, then according to the method described in ", the data sampling in single-measurement region and resolving " calculates 9 splicing control point corresponding point J under this survey station frame of reference2i(XJ2i,YJ2i,ZJ2i) (i=1,2,3,4 ..., 9)；
(10) splicing control point J is calculated respectively1i(i=1,2,3,4 ..., 9) and J2i(i=1,2,3,4 ..., 9) barycentric coodinates G1(XG1,YG1,ZG1) and G2(XG2,YG2,ZG2)；Respectively with focus point G1And G2For initial point, setting up two barycentric coordinate systems, the change in coordinate axis direction of two barycentric coordinate systems is consistent with the respective frame of reference, then the transition matrix R ' between two barycentric coordinate systems can be tried to achieve by formula IV:
In formula,
(11) utilize formula (V) by the three-dimensional lattice S of measured zone iu(u=1,2,3,4 ...) be transformed under the frame of reference of measured zone i+1, obtain S 'u(u=1,2,3,4 ...),
S′u=(Su-G1)R′+G2(V)
In formula, S 'uFor three-dimensional lattice SuIt is transformed into the coordinates matrix under the frame of reference of measured zone i+1, S 'u=[X 'u, Y 'u, Z 'u]T；SuFor three-dimensional lattice SuCoordinates matrix under the frame of reference of measured zone i, Su=[Xu, Yu, Zu]T；G1And G2Respectively focus point G1And G2Coordinate vector, G1=[XG1,YG1,ZG1]T, G2=[XG2,YG2,ZG2]T；
(12) method described in step (7)-(11), successively by under the Coordinate Conversion under each measured zone frame of reference to next measured zone frame of reference, namely completes the splicing of each measured zone dot array data.
Preferably, in step (3), 80≤△ y≤120.
The beneficial effects of the utility model are in that:
(1) this utility model is by developing the measuring method being used for large complicated carved Novel measuring system and utilizing this measurement system to realize, compared to the laser scanner technique adopted at present to measured object entire scan, measuring method of the present utility model adopts laser and the photogrammetric method combined, it is no longer necessary to measured object persistent loop is scanned for having large complicated carved measurement, but by a laser positioning, line laser is sampled, camera obtains the mode of view data to carry out, so obtain image by camera style, recycling photogrammetry principles calculates the actual coordinate of picture point, when ensureing precision, simplify measurement process, decrease pendulous frequency, substantially increase measurement efficiency.
(2) the measured object dot array data currently with scanning or photogrammetric acquisition is irregular scattered points, and the curve reestablishing of dot matrix at random is still a great problem, numerous and diverse process such as the palpus compression of measured data, segmentation, repairing and regularization, and it is difficult to ensure that the precision and efficiency of rebuilding curved surface.Measuring method of the present utility model utilizes measurement system that according to the step angle set and sampling interval, measured object outer surface is carried out progressive scan sampling, the sampled point obtained is the dot array data having and determining ranks relation, it is simple to the data in later stage process, manage and storage.Additionally, measuring method of the present utility model can be passed through to adjust step angle and sampling interval, effectively adjust sampling density, it is ensured that the motility of measurement and adaptability.
(3) measurement system of the present utility model is furnished with the view data of two cameras acquisition laser, it is to avoid cause that precision reduces because of the systematic error of single camera.Photogrammetric compared to current one camera, the cooperating of two cameras improves certainty of measurement, and the final data obtained are more reliable.
Accompanying drawing explanation
Fig. 1 is the flow chart that this utility model realizes obtaining large complicated carved three-dimensional lattice；
Fig. 2 is the structural representation that this utility model measures system；
Fig. 3 is the schematic diagram that measured object is carried out when single station is measured by this utility model measurement system；
Fig. 4 a is for resolving a wherein camera line laser view data method schematic diagram；
Fig. 4 b is for resolving another camera line laser view data method schematic diagram；
Fig. 5 is the method schematic diagram that adjacent two survey station resolved data carry out splicing.
Wherein: 1, base；2, Horizontal dividing dish；3, horizontal stand；4, tilt mount；5, camera；6, laser range finder；7, line laser transmitter；8, camera；9, pitching index dial；10, data line interface；11, data wire；12, computer；13, system is measured；14, measured object；15, POS INT point；16, intersection point location point；17, position terminating point；18, some laser；19, survey station；20, region I；21, public territory；22, splicing control point；23, region II；24, survey station.
Detailed description of the invention
By the examples below and in conjunction with accompanying drawing this utility model is described further, but is not limited to this.
Embodiment 1:
As depicted in figs. 1 and 2, a kind of large complicated carved measurement system, this system be based on front, two-way space cross principle realize obtain large complicated carved three-dimensional lattice device.This measurement system includes base 1, Horizontal dividing dish 2, horizontal stand 3, tilt mount 4, camera 5 and camera 8, laser range finder 6, line laser transmitter 7, pitching index dial 9, data line interface 10, data wire 11 and computer 12；Horizontal dividing dish 2 and horizontal stand 3 are fixed together, and the two is arranged on the top of base 1；Camera 5 and camera 8 and laser range finder 6 and line laser transmitter 7 are arranged on tilt mount 4；Tilt mount 4 is arranged on horizontal stand 3；Pitching index dial 9 is fixedly mounted on tilt mount 4, on the right side of horizontal stand 3；It is responsible for programme-control to be connected with the data line interface 10 being positioned on horizontal stand 3 by data wire 11 with the computer 12 of data acquisition.
Base 1, Horizontal dividing dish 2 and horizontal stand 3 are installed at vertical direction coaxial line, Horizontal dividing dish 2 is connected with bolt is fixing with horizontal stand 3, Horizontal dividing dish 2 can relatively rotate around realization between own axes and base 1, thus realizing system turned position Horizontal dividing.
Horizontal stand 3 left and right sides is respectively arranged with a riser, and riser has the through hole of horizontal direction, is used for installing tilt mount 4, and tilt mount about 4 two ends are respectively arranged with one section of short rotating shaft, are connected on the through hole of horizontal stand 3 riser, carry out supporting pitch support 4；Laser range finder 6 and line laser transmitter 7 are arranged on the centrage of tilt mount 4, and camera 5 and camera 8 are symmetrically mounted on the both sides of laser range finder 6.
Pitching index dial 9 is fixing with the short rotating shaft of tilt mount 4 right-hand member to be connected, and is controlled the angle of pitch of tilt mount 4 by rotary luffing index dial 9.
Horizontal stand 3 is internal equipped with two motors, is used for driving Horizontal dividing dish 2 and pitching index dial 9, it is achieved horizontally rotating and pitching of system.
Computer 12 fills systematic driving control program, for the coordination of drive stepping motor rotation, camera 5, camera 8, laser range finder 6 and line laser transmitter 7, and gathers the pose coordinate of view data that camera obtains and system.Computer 12 is also equipped with post processor, is used for processing view data and the method realizing resolving three-dimensional lattice.
The base 1 measuring system in the present embodiment is connected by the measurement spider that connector is general with current survey field, with fixing and support measurement system.
This measurement system carries a system spatial coordinates system, camera 5 and camera 8 and laser range finder 6 coordinate under this coordinate system it is known that obtain coordinate data by initializing camera.
Embodiment 2:
Based on the measurement system described in embodiment 1, the present embodiment elaborates and utilizes the measurement system described in embodiment 1 to carry out large complicated carved measuring method, and method is as follows:
One, the data sampling in single-measurement region and resolve (outer surface of target object carrying out single station measure and the process resolved):
As shown in Figure 3, testee outer surface 14 being divided into n region, measurement system 13 face certain measured zone i and places, the some laser 18 that laser range finder is launched is approximately perpendicular to testee outer surface 14, and intersection point is location point 16；Location point 15 and location point 17 respectively measure starting point and ending point.It is with the step angle of setting that single station is measured, and utilizes laser scan round, cameras capture to obtain what view data carried out.In laser scanning process, it is using a laser as sampled reference point, is aided with line laser and is scanned measuring, in image processing process, according to specifying sampling interval to take a little on line laser, in conjunction with the data of two cameras, two-way space intersection principle is utilized to resolve the three-dimensional lattice obtaining rule.Specifically comprise the following steps that
(1) measured object outer surface 14 being divided into n region, each region is an independent survey station.For the follow-up registration being easy to zones of different sampled data and splicing, between adjacent area, there is the public territory of overlap.For arbitrary tested region i, adjust measurement system 13 so that it is just region i is placed；
(2) by driving control program, open the laser range finder 6 launch point laser 18 location point 16 to tested region i, regulate horizontal stand 3 to horizontally rotate and tilt mount 4 pitch rotation, make a laser approximately perpendicular to measured object outer surface 14, the datum mark that intersection point location point 16 now is measured as this station, to measure the system 13 service system space coordinates when this position frame of reference as measured zone i, at this moment configuration driver resets, and horizontal stand 3 and tilt mount 4 are respectively relative to the angle φ that benchmark intersection point location point 16 turns overjAnd ωjIt is set to zero；
(3) regulate horizontal stand 3 and tilt mount 4 rotates, a laser is made to get to the upper left position starting point 15 of tested region i, the pose coordinate (the angle element of position coordinates namely the measurement line element of system, attitude coordinate namely the system of measurement, be called for short pose coordinate) of system is measured when obtaining this position；Then regulate horizontal stand and tilt mount makes a laser reach the lower right position terminating point 17 of tested region i, when obtaining this position, measure the pose coordinate of system；
(4) horizontal step angle when scanning survey is set and pitching step angle；
(5) scanning survey: start laser scanning measurement, the with reference to the accompanying drawings path shown in dotted line in 3, from POS INT point 15, according to the order progressive scan measured object outer surface of " forward from left to right, reversely from right to left ".In scanning process, for the arbitrary scan location point Q of measured objectj, laser range finder 6 launch point laser is to Qj, record corresponding laser ranging distance Lj, recording level support 3 and tilt mount 4 are respectively relative to the angle φ that benchmark intersection point location point 16 turns over simultaneouslyjAnd ωj；Camera 5 or camera 8 are taken pictures, it is thus achieved that some laser photo Gj；Close laser range finder 6, open line laser transmitter 7 launch line laser, camera 5 and camera 8 simultaneously take pictures acquisition two bracing cable laser photo LAjAnd LBj；It is then shut off line laser transmitter 7, opens laser range finder 6, rotate horizontal stand 3 and tilt mount 4 makes one scan location point Q under a laser alignmentj+1Position is scanned measuring, and the location point in horizontal direction rotates tilt mount after having scanned and is reversed the scanning of location point to next line.It is scanned every one scan location point of tested region i as stated above measuring, terminates to position terminating point 17, it is thus achieved that the some laser photo of respective scanned location point and line laser photo；
(6), after being measured, the three-dimensional lattice data of tested region i are resolved.Initializing the element of two cameras 5,8 and laser range finder 6, wherein every camera has 3 elements of interior orientation and 6 elements of exterior orientation.Elements of interior orientation includes the principal point position x relative to image center0、y0And optical center to image plane focal distance f (also referred to as main from), elements of exterior orientation includes 3 for describing the optical center line element X relative to system spatial coordinates system positionS, YS, ZSWith 3 for describing the image plane angle element in photography temporary airborne attitudeω, k.Coordinate in laser range finder point laser center system spatial coordinates system is (0,0, Zcj)；
(7) opening post processor, below step is for certain one scan location point QjIllustrate to resolve the process of dot matrix；
(8) some laser photo G is readjMiddle laser spots QjCorresponding picture coordinate (x1j, y1j)；
(9) process line laser view data and resolve dot matrix.As shown in accompanying drawing 4a, 4b, according to a laser photo GjMiddle laser spots QjImage coordinate (x1j, y1j), at line laser photo LAjThe middle image coordinate point determining its correspondence 1., by point 1. headed by sampled point P1, and it can be used as datum mark, respectively along first sampled point P1The positive negative direction of y-axis be sampled at interval of △ y (80≤△ y≤120) pixel, obtain one group of sampled point Pk(k=2,3,4 ...), then PkY-coordinate be ykj=y1j± (k-1) × △ y, its x coordinate is determined according to max pixel value principle；
(10) another camera line laser photo LB is takenjThe y-coordinate of upper all sampled points and above-mentioned LAjIn the y-coordinate of one group of sampled point identical, determine its x coordinate according to max pixel value principle, it is determined that this camera line laser photo LBjSampled point Ph(h=1,2,3,4 ...) and as coordinate (xhj, yhj)；
(11) according to equation below (I), 3 angle elements of two cameras are utilized to calculate its transition matrix R respectively:
(12) according to the image coordinate of each sampled point, (x y), according to its three-dimensional coordinate (X, Y, Z) under current measurement position system spatial coordinates system of public formula II inverse, can try to achieve one group of sampled point P respectivelyk(k=1,2,3,4 ...) and Ph(h=1,2,3,4 ...) corresponding to space finite points Sk(k=1,2,3,4 ...) and Sh(h=1,2,3,4 ...)；
(13) to space finite points Sk(k=1,2,3,4 ...) and Sh(h=1,2,3,4 ...) coordinate of each corresponding point averages, and obtains this scanning location point QjOne group of acquired sampled point three-dimensional coordinate S under its system spatial coordinates systems(s=1,2,3,4 ...)；
(14) S that public formula III will resolve in step (13) out is utilizeds(s=1,2,3,4 ...) three-dimensional coordinate be transformed under the frame of reference of this survey station；
Sj=C+RjSs(III)
In formula, SjIt is one group of sampled point SsCoordinates matrix under this survey station frame of reference, Sj=[Xj, Yj, Zj]T, RjFor transformation matrix R, by scanning location point QjCorresponding angle (φj, ωj, 0) substitute into public formula I and try to achieve, SsIt is one group of sampled point SsCoordinate vector, C is constant matrices, C=[0,0, Zcj]T；
(15) each scanning location point Q is completed as stated abovej(j=1,2,3 ...) and image data samples and resolving, finally give measured zone i three-dimensional lattice under this survey station frame of reference；
Two, the data splicing of adjacent measured zone:
Based on the three-dimensional lattice obtaining each region of measured object outer surface in major step, the joining method of each area data is next discussed in detail, with by under the Data Integration in each region to the same coordinate system.As shown in Figure 5, splicing realizes by adding public control point.There is the public territory 21 of overlap between region I 20 and region II 23, public territory 21 is arranged 9 splicing control point 22.The dead ahead survey station 24 of successively measurement system is positioned over measured zone I 20 dead ahead survey station 19 and measured zone II 23 measures.Described in concrete implementation following steps:
(16) on public territory 21, arrange 9 splicing control point 22；
(17) according to the method introduced in major step, utilize measurement system at the survey station 19 shown in accompanying drawing 5, the region I 20 of measured object 14 to be measured, obtain the region I 20 three-dimensional lattice S under this survey station 19 frame of referenceu(u=1,2,3,4 ...)；Keep measurement system at survey station 19 invariant position, adjusting measurement system makes its some laser launched be directed at 9 splicing control point 22 successively, and utilize two cameras 5,8 to obtain the view data at splicing control point, then according to the step introduced in major step calculates 9 the splicing control point 22 corresponding point J under this survey station 19 frame of reference1i(XJ1i,YJ1i,ZJ1i) (i=1,2,3,4 ..., 9)；
(18) measurement system is moved on to the position of the survey station 24 shown in accompanying drawing 5, is first according to the method acquisition region II 23 three-dimensional lattice S under this survey station 24 frame of reference of introduction in major stepd(d=1,2,3,4, ...), keep measurement system at survey station 24 invariant position, adjust measurement system and make its some laser launched be directed at 9 splicing control point 22 successively, and utilize two cameras 5,8 to obtain the view data at splicing control point 22, then according to the method introduced in major step calculates 9 the splicing control point 22 corresponding point J under this survey station 24 frame of reference2i(XJ2i,YJ2i,ZJ2i) (i=1,2,3,4 ..., 9)；
(19) control point J is calculated respectively1i(i=1,2,3,4 ..., 9) and J2i(i=1,2,3,4 ..., 9) barycentric coodinates G1(XG1,YG1,ZG1) and G2(XG2,YG2,ZG2)；Respectively with focus point G1And G2For initial point, setting up two barycentric coordinate systems, the change in coordinate axis direction of two barycentric coordinate systems is consistent with the respective frame of reference, then the transition matrix R ' between two barycentric coordinate systems can be tried to achieve by formula IV:
In formula,
(20) utilize formula (V) by the three-dimensional lattice S of measured zone iu(u=1,2,3,4 ...) be transformed under the frame of reference of measured zone i+1, obtain S 'u(u=1,2,3,4 ...),
S′u=(Su-G1)R′+G2(V)
In formula, S 'uFor three-dimensional lattice SuIt is transformed into the coordinates matrix under the frame of reference of measured zone i+1, S 'u=[X 'u, Y 'u, Z 'u]T, SuFor three-dimensional lattice SuCoordinates matrix under the frame of reference of measured zone i, Su=[Xu, Yu, Zu]T, G1And G2Respectively focus point G1And G2Coordinate vector, G1=[XG1,YG1,ZG1]T, G2=[XG2,YG2,ZG2]T；
(21) method described in step (16)-(20), successively by under the Coordinate Conversion under each measured zone frame of reference to next measured zone frame of reference, namely completes the splicing of each measured zone dot array data.
Claims (4)
1. a large complicated carved measurement system, it is characterised in that include base, horizontal stand, tilt mount and computer；Described horizontal stand is arranged on base, tilt mount is connected with horizontal stand by rotating shaft, tilt mount is provided with camera, laser range finder and line laser transmitter, laser range finder and line laser transmitter are positioned on same vertical line, arrange two described cameras in the both sides of laser range finder, described computer electrically connects with camera, laser range finder, line laser transmitter respectively.
2. large complicated carved measurement system as claimed in claim 1, it is characterised in that the bottom of described horizontal stand is provided with Horizontal dividing dish.
3. large complicated carved measurement system as claimed in claim 1, it is characterised in that one end of described rotating shaft is connected to pitching index dial.
4. large complicated carved measurement system as claimed in claim 1, it is characterised in that two described cameras are symmetricly set on the both sides of laser range finder.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105627948A (en) * | 2016-01-31 | 2016-06-01 | 山东科技大学 | Large-scale complex curved surface measurement system and application thereof |
| CN107765231A (en) * | 2017-11-08 | 2018-03-06 | 中国人民解放军海军工程大学 | A kind of Three Dimensional Ground laser radar apparatus and its assemble method |
| CN108931186A (en) * | 2018-03-28 | 2018-12-04 | 中国航空制造技术研究院 | Measurement of curved surface, origin reference location method and measuring device based on intersecting laser |
| CN113720308A (en) * | 2021-08-31 | 2021-11-30 | 中煤科工集团重庆研究院有限公司 | Head-on photography geological logging method and system |
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2016
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105627948A (en) * | 2016-01-31 | 2016-06-01 | 山东科技大学 | Large-scale complex curved surface measurement system and application thereof |
| CN105627948B (en) * | 2016-01-31 | 2018-02-06 | 山东科技大学 | A kind of method that large complicated carved measuring system carries out complex-curved sampling |
| CN107765231A (en) * | 2017-11-08 | 2018-03-06 | 中国人民解放军海军工程大学 | A kind of Three Dimensional Ground laser radar apparatus and its assemble method |
| CN108931186A (en) * | 2018-03-28 | 2018-12-04 | 中国航空制造技术研究院 | Measurement of curved surface, origin reference location method and measuring device based on intersecting laser |
| CN108931186B (en) * | 2018-03-28 | 2020-06-12 | 中国航空制造技术研究院 | Curved surface measurement and reference positioning method and measurement equipment based on cross laser |
| CN113720308A (en) * | 2021-08-31 | 2021-11-30 | 中煤科工集团重庆研究院有限公司 | Head-on photography geological logging method and system |
| CN113720308B (en) * | 2021-08-31 | 2024-03-12 | 中煤科工集团重庆研究院有限公司 | Head-on photography geological cataloging method and system |
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