CN206556661U - A kind of measurement apparatus - Google Patents
A kind of measurement apparatus Download PDFInfo
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- CN206556661U CN206556661U CN201720247914.7U CN201720247914U CN206556661U CN 206556661 U CN206556661 U CN 206556661U CN 201720247914 U CN201720247914 U CN 201720247914U CN 206556661 U CN206556661 U CN 206556661U
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- support meanss
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- measurement apparatus
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Abstract
The application provides a kind of measurement apparatus, including：Support meanss, the support meanss include top, intermediate and bottom；GPS, the GPS is arranged on the top of the support meanss, the position coordinates for measuring the measurement apparatus；Laser range finder, the laser range finder is arranged on the intermediate of the support meanss, the space length for measuring point to be measured and the measurement apparatus；Camera, the camera is arranged on the intermediate of the support meanss, includes the scene image of the point to be measured for capturing.The application can be realized to be measured to the point to be measured that position is remote such as precipitous clifftop, the characteristic point in lake center, be difficult to measure.
Description
Technical field
The application is related to field of measuring technique, more particularly to a kind of measurement apparatus.
Background technology
It is presently used for realizing that the measuring apparatus for treating measurement point includes total powerstation, spirit level, GPS (Global
Positioning System, global positioning system) receiver etc..These measuring apparatus can accurately be measured to be measured
The position of point, but for some positions it is remote, be difficult the point to be measured of measurement, such as precipitous clifftop, lake center
Characteristic point etc., it can not realize the measurement to it.
Therefore, prior art is badly in need of a kind of can realize to such as precipitous clifftop, the characteristic point in lake center
Position is remote, be difficult the measurement apparatus that the point to be measured of measurement is measured.
Utility model content
In view of this, the application provides a kind of measurement apparatus, to realize to for example precipitous clifftop, lake center
Characteristic point etc., position is remote, be difficult measurement point to be measured measure.Technical scheme is as follows：
The application provides a kind of measurement apparatus, including：
Support meanss, the support meanss include top, intermediate and bottom；
GPS, the GPS is arranged on the top of the support meanss, for measuring the measurement apparatus
Position coordinates；
Laser range finder, the laser range finder is arranged on the intermediate of the support meanss, to be measured for measuring
Point and the space length of the measurement apparatus；
Camera, the camera is arranged on the intermediate of the support meanss, includes the point to be measured for capturing
Scene image.
Preferably, the laser range finder, apart from the length on the top of the support meanss, is the middle body length
1/3rd；
The length on the top of support meanss described in the camera distance, is 1/2nd of the middle body length.
Preferably, the support meanss are centering rod.
Preferably, the bottom of the centering rod is bottom tip, and the position of the bottom tip contact is the measurement dress
The position put.
Preferably, the bottom of the support meanss is tripod structure.
The measurement apparatus that the application is provided includes：Support meanss, GPS, laser range finder and camera.The GPS
Receiver is arranged on the top of the support meanss, the position coordinates for measuring the measurement apparatus, the laser range finder
On the intermediate for being arranged on the support meanss, the space length for measuring point to be measured and the measurement apparatus, the phase
Machine is arranged on the intermediate, includes the scene image of the point to be measured for capturing.The application is surveyed based on GPS
Point to be measured and the space length of measurement apparatus that the position coordinates of the measurement apparatus measured, laser range finder measurement are obtained,
And the scene image for including point to be measured that camera is captured, the space coordinate of point to be measured is obtained by calculating.The application
By means of laser range finder and camera, it can realize to such as precipitous clifftop, the characteristic point in lake center, position is inclined
The point to be measured for being difficult measurement such as out-of-the-way is measured.
Brief description of the drawings
, below will be to embodiment or existing in order to illustrate more clearly of the embodiment of the present application or technical scheme of the prior art
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of application, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing of offer obtains other accompanying drawings.
A kind of structural representation for measurement apparatus that Fig. 1 provides for the application；
Fig. 2 is the structural representation of support meanss in the application；
Fig. 3 is another structural representation of support meanss in the application.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present application, the technical scheme in the embodiment of the present application is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only some embodiments of the present application, rather than whole embodiments.It is based on
Embodiment in the application, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of the application protection.
One of main thought of the application includes, and stereo vision measurement method and traditional GPS measuring methods are combined,
There is provided a kind of measurement apparatus with long-distance positioning function.As shown in figure 1, the figure is a kind of measurement apparatus that the application is proposed
Structural representation, including：Support meanss 100, GPS 200, laser range finder 300 and camera 400.Wherein,
Support meanss 100 include top 101, intermediate 102 and bottom 103.
Support meanss 100 in the application can be specially centering rod 110, as shown in Fig. 2 the bottom of the centering rod 110
Cone shape, the i.e. bottom of centering rod 110 be can be designed as bottom tip, the position of the bottom tip contact is surveyed to be described
Measure the position of device.
Certainly, the bottom 103 of support meanss 100 can also be tripod structure in the application, as shown in Figure 3.The application
Specific constructive form for the bottom 103 of support meanss 100 and support meanss 100 is not limited.
GPS 200 is arranged on the top 101 of the support meanss 100, the position for measuring the measurement apparatus
Coordinate (xA, yA, zA)。
Laser range finder 300 is arranged on the intermediate 102 of the support meanss 100, for measuring point (x to be measured0,
y0, z0) with the space length of the measurement apparatus.
In the application practical application, the laser that laser range finder 300 is launched needs to be directed at point to be measured, in order to ensure to survey
Accuracy of measurement, should try one's best and ensure that laser-formed red point is strictly aligned with point to be measured.
As the preferred embodiment of the application, laser range finder 300, which is specifically located on intermediate 102, closes on top
At 1/3rd positions of 101 sides, i.e. laser range finder 300, apart from the length on the top 101 of the support meanss 100, is institute
State 1/3rd of the length of intermediate 102.
Camera 400 is arranged on the intermediate 102 of the support meanss 100, includes the point to be measured for capturing
Scene image.
Camera 400 in the application is preferably high pixel camera.
In this application, the scene image of point to be measured is included in order to ensure that camera 400 can be captured more comprehensively, this
Camera 400 is preferably arranged on the centre position of the intermediate 102 of the support meanss 100 by application, i.e., camera 400 is apart from described
The length on the top 101 of support meanss 100, is 1/2nd of the length of intermediate 102.
In the application actual application, it is necessary first to be placed on the measurement apparatus that the application is provided and treated beneficial to observation
Measurement point O (x0, y0, z0) and the position A of calibrating template at, and need ensure position A can receive gps signal.Measurement dress
Put after start-up operation, using GPS 200, measurement obtains the position coordinates (x of measurement apparatusA, yA, zA), then using sharp
Optar 300, by its laser alignment point O (x to be measured0, y0, z0), measurement obtains point O (x to be measured0, y0, z0) filled with measurement
The space length L putA-O.Finally, using camera 400, capture includes calibrating template, point O (x to be measured0, y0, z0) and laser
The first scene image including the red point that rangefinder 300 is transmitted.
The measurement apparatus that the application is provided, which is changed, arrives position B, and position B is different from position A, using same method, sharp
Position coordinates (the x of measurement apparatus is obtained with GPS 200B, yB, zB), obtain point O to be measured using laser range finder 300
(x0, y0, z0) with the space length L of measurement apparatusB-O, and camera 400 captures comprising calibrating template, point O to be measured again
(x0, y0, z0) and the red point that transmits of laser range finder 300 including the second scene image.
Above-mentioned two groups of data based on acquisition, (xA, yA, zA)、LA-O, the first scene image, (xB, yB, zB)、LB-O, second
Scene image calculates the locus coordinate (x for obtaining point O to be measured0, y0, z0)。
Specifically, the application is demarcated firstly the need of to camera 400, it is main include to the inside and outside parameter of camera 400 and
The determination of the distortion parameter of camera lens.
The acquisition of the inside and outside parameter of camera 400：
The application utilizes the imaging model of formula (1), and camera 400 is solved according to the known coordinate of object point and picture point
Inside and outside parameter.
Wherein, (x, y, z) is the three-dimensional coordinate of point to be measured in space, and (u, v) is point to be measured correspondence on image
Picpointed coordinate.
R and T contain the inner parameter and external parameter of camera 400.In order to
Without loss of generality, t can be made3=1, then above formula is just comprising 11 unknown numbers.As long as being able to know that N (N>5) individual point to be measured
Three dimensional space coordinate, and its corresponding picpointed coordinate in two width scene images can be in the hope of using the method for least square
Obtain the inside and outside parameter of camera 400.
Using formula (2), distortion parameter is asked for.
Wherein, (ut, vt) it is the normalized image point coordinates calculated by pinhole camera model, and (ud, vd) it is real
The image point coordinates for including distortion on border, δuAnd δvIt is distortion value.δuAnd δvIt can be represented with following formula (3).
Wherein, r2=ut 2+vt 2, k1、k2、k3、k4For nonlinear distortion variable element, k1、k2For radial distortion parameter, k3、k4For
Tangential distortion parameter.
By formula (2) and formula (3) simultaneous, it can be tried to achieve using the space coordinate and corresponding picpointed coordinate of point to be measured
Distortion parameter k1、k2、k3、k4。
After the inside and outside parameter of the complete camera 400 of punctuate, point O to be measured is read respectively first using image processing software
Image coordinate in scene image and the second scene image, is respectively (uo1, vo1)、(uo2, vo2), asked for using above-mentioned formula (3)
The distortion parameter of camera 400.And then the image coordinate for the point to be measured for excluding distortion error is tried to achieve using formula (2)WithFormula (1) is entered after line translation to obtain：
WillWithBring into above-mentioned formula (4), obtain：
And then, the point O (x to be measured measured twice using laser range finder 300 based on the application0, y0, z0) filled with measurement
The space length L putA-OAnd LB-O, can obtain：
Using above-mentioned formula (6) as restrictive condition equation, formula (5) is as error equation, and composition is with restrictive condition
Indirect adjustment, point O to be measured position coordinates (x is obtained using the principle of least square0, y0, z0), it is ensured that what is measured is to be measured
The accuracy of the position coordinates of point.
The measurement apparatus that the application is provided includes：Support meanss 100, GPS 200, laser range finder 300 and camera
400.The GPS 200 is arranged on the top 101 of the support meanss 100, the position for measuring the measurement apparatus
Coordinate, the laser range finder 300 is arranged on the intermediate 102 of the support meanss 100, for measuring point to be measured and institute
The space length of measurement apparatus is stated, the camera 400 is arranged on the intermediate 102, for capturing comprising described to be measured
The scene image of point.The application measures position coordinates, the laser range finder 300 of obtained measurement apparatus based on GPS 200
The point to be measured that measurement is obtained and the scene for including point to be measured that the space length and camera 400 of measurement apparatus are captured
Image, calculates the space coordinate for obtaining point to be measured.The application can be realized pair by means of laser range finder 300 and camera 400
Such as precipitous clifftop, the characteristic point in lake center, position is remote etc. is difficult the point to be measured of measurement and measures.
The application is handled the data measured by stereo-visiuon measurement data, GPS 200 in the lump, and in fortune
During calculation, range equation is combined to form restriction condition parameter adjustment with the equation that imaging model is formed, using most
A young waiter in a wineshop or an inn multiplies principle and calculated, and improves the accuracy of point measurement to be measured.
A kind of measurement apparatus provided herein is described in detail above, specific case pair used herein
The principle and embodiment of the application is set forth, and the explanation of above example is only intended to help and understands the present processes
And its core concept；Simultaneously for those of ordinary skill in the art, according to the thought of the application, in embodiment and
It will change in application, in summary, this specification content should not be construed as the limitation to the application.
Claims (5)
1. a kind of measurement apparatus, it is characterised in that including：
Support meanss, the support meanss include top, intermediate and bottom；
GPS, the GPS is arranged on the top of the support meanss, the position for measuring the measurement apparatus
Put coordinate；
Laser range finder, the laser range finder is arranged on the intermediate of the support meanss, for measure point to be measured with
The space length of the measurement apparatus；
Camera, the camera is arranged on the intermediate of the support meanss, includes the scene of the point to be measured for capturing
Image.
2. measurement apparatus according to claim 1, it is characterised in that
The laser range finder, apart from the length on the top of the support meanss, is 1/3rd of the middle body length；
The length on the top of support meanss described in the camera distance, is 1/2nd of the middle body length.
3. measurement apparatus according to claim 1, it is characterised in that the support meanss are centering rod.
4. measurement apparatus according to claim 3, it is characterised in that the bottom of the centering rod is bottom tip, described
The position of bottom tip contact is the position of the measurement apparatus.
5. measurement apparatus according to claim 1, it is characterised in that the bottom of the support meanss is tripod structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720247914.7U CN206556661U (en) | 2017-03-14 | 2017-03-14 | A kind of measurement apparatus |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720247914.7U CN206556661U (en) | 2017-03-14 | 2017-03-14 | A kind of measurement apparatus |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110274575A (en) * | 2019-07-17 | 2019-09-24 | 伟志股份公司 | A kind of route survey system and method based on GPS technology |
| CN112964252A (en) * | 2021-03-29 | 2021-06-15 | 上海井融网络科技有限公司 | Positioning method and system based on inertial measurement unit and RTK receiver |
-
2017
- 2017-03-14 CN CN201720247914.7U patent/CN206556661U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110274575A (en) * | 2019-07-17 | 2019-09-24 | 伟志股份公司 | A kind of route survey system and method based on GPS technology |
| CN112964252A (en) * | 2021-03-29 | 2021-06-15 | 上海井融网络科技有限公司 | Positioning method and system based on inertial measurement unit and RTK receiver |
| CN112964252B (en) * | 2021-03-29 | 2023-08-15 | 苏州天硕导航科技有限责任公司 | Positioning method and system based on inertial measurement unit and RTK receiver |
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