CN207456379U - A kind of vision measurer - Google Patents
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- CN207456379U CN207456379U CN201721130376.XU CN201721130376U CN207456379U CN 207456379 U CN207456379 U CN 207456379U CN 201721130376 U CN201721130376 U CN 201721130376U CN 207456379 U CN207456379 U CN 207456379U
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Abstract
This application discloses a kind of vision measurer, including：Fuselage, horizontal limb, vertical circle, camera lens, imaging sensor and horizon sensor, range sensor, horizontal direction adjusting knob, vertical direction adjusting knob；The central shaft of horizontal limb and the primary optical axis of camera lens are respectively perpendicular to the central shaft of vertical circle, and the central shaft of horizontal limb, the primary optical axis of camera lens and the central shaft of vertical circle intersect at a point, the primary optical axis of camera lens and the image plane of imaging sensor intersect vertically, the ranging optical axis of range sensor is parallel with the primary optical axis of camera lens or overlaps, and intersect arrangement with the central shaft of horizontal limb, the row battle array of the photosensitive unit array of imaging sensor is parallel with the central shaft of vertical circle, the array of photosensitive unit array of imaging sensor and the central axis of vertical circle, the central shaft of horizon sensor is parallel with the central shaft of horizontal limb.The application has the characteristics that non-contact, high-precision, efficient, and improves photogrammetric precision.
Description
Technical field
This application involves technical field of visual measurement, and in particular to a kind of vision measurer.
Background technology
For the space three-dimensional size of testee and position measurement, generally using laser tracker system or digital close shot
Digital Photogrammetric System.Laser tracker system is by scale measurement angle and laser ranging, to obtain the space of testee
Information, have many advantages, such as high-precision, it is highly reliable.Digital close view photogrammetric system be by camera in different positions and
Direction obtains images more than 2 width of same object, and it is accurate to obtain tested point after the related mathematical computations such as image procossing matching
Three-dimensional coordinate, with remarkable advantages such as non-contact, high efficiency.
In the fields such as aerospace, shipbuilding, nuclear energy, track traffic, large scientific facilities, since some of testee are special
Different property proposes measuring instrument non-contact, high-precision, efficient requirement.And laser tracker system is in measurement process,
, it is necessary to which speculum to be rest directly upon to the surface of testee, nothing when obtaining instrument to the distance between testee and angle
Method meets the requirement of non-cpntact measurement；Meanwhile laser tracker measurement method is point-to-point measurement, and it is less efficient, it takes more.Number
Word close range photogrammetric system, is measured using dot matrix, and efficiency is very high, and can the permanently mounted survey on testee during measurement
Target is measured, the requirement of non-cpntact measurement can be met.But since digital close view photogrammetric system needs to resolve different measurements
Relative position and posture relation between the camera of erect-position, and the external object point that camera takes is completely dependent on to establish difference
Contact between camera erect-position will be unable to reach higher measurement accuracy；Meanwhile digital close view photogrammetric system does not have vertical line
Benchmark can not directly acquire the horizontal attitude and height difference of testee.
The TS16 total powerstations of Leica companies production, in addition to scale measurement angle information, also looking in the distance in total powerstation
A camera is loaded with above mirror, therefore, TS16 can also be used to carry out photogrammetric, while obtain the letter of the angle between photograph
Breath.It is done so that main purpose be not configured to it is photogrammetric, but in order to use camera image auxiliary aim at total powerstation target.
Total powerstation is all using human eye observation, i.e. human eye is observed by the collimation axis run-home of telescope, and such human eye is easily tired
It is and inefficient.TS16 total powerstations show the image of range of telescope by camera in touch display screen, and user touches aobvious
The image of testee in display screen drives the collimation axis of total powerstation to aim at measurand roughly, so saves pointing time.
Therefore, TS16 total powerstations main purpose is not intended to carry out photogrammetric, it is main or is surveyed using scale angle measurement and electromagnetic wave
Away from determining coordinates of targets.Its shortcoming is：
1st, the primary optical axis of TS16 cameras and the collimation axis of total powerstation be not coaxial, the focus or image plane of camera and total powerstation
The position relationship that centre point does not determine；
2nd, TS16 cameras major parameter is：5000000 pixels, visual field be 19.4 °, camera sensor and resolution of lens it is low,
Visual field is narrow.Although TS16 can determine the relation of primary optical axis and collimation axis and camera by the method for user's self-calibration
Focus or the position relationship of image plane and the centre of total powerstation point, but moved in horizontal limb and vertical circle comprehensive
Under cooperation is used, system complexity is substantially improved, and is unable to reach degree of precision.
The content of the invention
The purpose of the application is：For above-mentioned technical problem, the application proposes a kind of vision measurer, is connect with non-
It touches, high-precision, efficient feature, and substantially increases photogrammetric precision.
In order to achieve the above object, the technical solution of the application is：
A kind of vision measurer, including：
Fuselage；
Horizontal limb, the horizontal limb are connected on the fuselage, and can vertically be arranged around the horizontal limb
Mandrel rotary motion；
Vertical circle, the vertical circle are connected on the fuselage, and can be in the vertical circle is horizontally disposed
Mandrel rotary motion；
It is fixed on the camera lens and imaging sensor on the vertical circle and being connected with each other；
With the fixed range sensor of the camera lens；And
With the fixed horizon sensor of the fuselage；
The primary optical axis of the central shaft of the horizontal limb and the camera lens is respectively perpendicular to the center of the vertical circle
Axis, the central shaft of the central shaft of the horizontal limb, the primary optical axis of camera lens and vertical circle intersect at a point, the master of the camera lens
The image plane of optical axis and described image sensor intersects vertically, the ranging optical axis of the range sensor and the key light of the camera lens
Axis is parallel or overlaps arrangement, and the ranging optical axis of the range sensor intersects arrangement with the central shaft of the horizontal limb,
The row battle array of the photosensitive unit array of described image sensor is parallel with the central shaft of the vertical circle, described image sensor
The array of photosensitive unit array and the central axis of the vertical circle, the central shaft of the horizon sensor and the level
The central shaft of scale is parallel.
The horizontal direction adjusting knob being sequentially connected with the horizontal limb is provided on the fuselage.
The vertical direction adjusting knob being sequentially connected with the vertical circle is provided on the fuselage.
It is provided on the fuselage and described image sensor, the horizontal limb, the vertical circle, the horizontal biography
The display screen that sensor is connected with the range sensor.
The fuselage is locked by being arranged on the three-jaw connector of the horizontal limb bottom on instrument support.
Flash lamp is fixedly installed on the camera lens.
The advantage of the application is：
1st, the application is integrated with scale angle measurement technique, laser ranging technique, photogrammetric technology, with non-contact, high
Precision, efficient feature.It is supplied to by the high-precision angle measurement of scale and the ranging of laser high-precision photogrammetric accurate
Elements of exterior orientation, so as to solve the problems, such as to be completely dependent on external object point carry out elements of exterior orientation resolving, substantially increase
The precision of digital close range photogrammetry.In addition, being equipped with horizon sensor on vision measurer, vision measurer is supplied to survey
Vertical line benchmark during amount, so as to solve the problems, such as measurement object horizontal attitude and height difference.
2nd, compared to TS16 total powerstations, this vision measurer of the application during processing and manufacturing, is strict with horizontal
The central axis of scale is in the central shaft of vertical circle, while the primary optical axis of camera lens is perpendicular to the central shaft of vertical circle, and
And this three axis intersect at a point, this intersection point forms the central point of instrument.Meanwhile the primary optical axis and imaging sensor of camera lens
Image plane intersect vertically.The row battle array of the photosensitive unit array of imaging sensor is parallel with vertical circle central shaft, and array is with hanging down
Straight scale central axis.The ranging optical axis of range sensor is parallel with the primary optical axis of camera lens or overlaps, and and horizontal limb
Central shaft it is coplanar.The central shaft of horizon sensor is parallel with the central shaft of horizontal limb.By ensureing in processing and manufacturing process
And the method for later stage compensation for calibrating errors realizes above-mentioned geometrical relationship.Therefore, during being measured at instrument list station, the level of instrument
The attitude information of the angle information of scale and vertical circle, the range information of range sensor and horizon sensor can carry
It is constrained for the accurate elements of exterior orientation of this multiple image of station, meanwhile, in instrument multistation measurement process, the horizon sensor of instrument
Attitude information be also capable of providing between multistation image accurate elements of exterior orientation constraint, avoid traditional photography measuring system only
The problem of solving elements of exterior orientation is only measured to external target point by imaging sensor, so as to greatly improve measurement accuracy.Together
When, using this vision measurer, photogrammetric field range is increased by the constraint of single station angle information, is greatly reduced
The laying quantity of external object point.
3rd, the application is made being measured on latter measurement erect-position before observation on erect-position by way of centre point mark
Front and rear measurement erect-position is directly associated, and further improves measurement accuracy.
Description of the drawings
Fig. 1 is one of dimensional structure diagram of this vision measurer of the embodiment of the present application；
Fig. 2 is the two of the dimensional structure diagram of this vision measurer of the embodiment of the present application；
Fig. 3 is the front view of this vision measurer of the embodiment of the present application；
Fig. 4 be the embodiment of the present application in global coordinate system, vision instrument initial state coordinate system, vision instrument dynamic coordinate system three it
Between relational graph；
Fig. 5 is vision instrument dynamic coordinate system, the relational graph of ranging coordinate system therebetween in the embodiment of the present application.
Wherein：1- fuselages, 2- horizontal limbs, 3- vertical circles, 4- camera lenses, 5- imaging sensors, 6- horizon sensors, 7-
Horizontal direction adjusting knob, 8- vertical direction adjusting knobs, 9- display screens, 10- range sensors.
Specific embodiment
The application is described in further detail below by specific embodiment combination attached drawing.The application can be with a variety of
Different forms is realized, however it is not limited to the present embodiment described embodiment.The purpose of detailed description below is provided
It is easy for becoming apparent from present disclosure thorough explanation, the words of the wherein indicating positions such as upper and lower, left and right is only pin
To shown structure in respective figure for position.
However, those skilled in the art may be aware that one or more detail description can be by
It omits or other methods, component or material can also be used.In some instances, some embodiments are not described
Or it is not described later in detail.
In addition, technical characteristic described herein, technical solution can also be closed arbitrarily in one or more embodiments
Suitable mode combines.For those skilled in the art, should be readily appreciated that with provided herein is embodiment related method
Step or operation order can also change.Therefore, any order in drawings and examples is merely illustrative purposes, not secretly
Show requirement in a certain order, required unless expressly stated according to a certain order.
It is herein component institute serialization number itself, such as " first ", " second " etc., is only used for distinguishing described object,
Without any order or art-recognized meanings.And " connection ", " fixation " described in the application, unless otherwise instructed, include directly and
It is indirectly connected with, directly or indirectly fixes.
Fig. 1 to Fig. 3 shows a specific embodiment of this vision measurer of the application, mainly by fuselage 1, level
Scale 2, vertical circle 3, camera lens 4, imaging sensor 5, horizon sensor 6 and range sensor 10 are formed.Wherein：
Fuselage 1 is the agent structure for being used to support measuring instrument.
Horizontal limb 2 connects on the fuselage 1, and horizontal limb 2 can rotate around central shaft, horizontal limb
2 central shaft is arranged vertically.In order to facilitate the use of the measuring instrument, in practical application, the horizontal limb 2 is usually by being arranged on
The three-jaw connector of its bottom is locked on instrument support.So realize erection of the fuselage 1 on instrument support, the instrument
Device stent generally use tripod structure.
Vertical circle 3 is connected on the fuselage 1, and vertical circle 3 can rotate around central shaft, vertically
The central shaft of scale 3 is horizontally disposed.
Camera lens 4 and imaging sensor 5 are fixedly connected on vertical circle 3, and camera lens 4 and imaging sensor 5 are mutual
It connects (circuit connection).Imaging sensor 5 is used for the image of records photographing.In order to promote shooting quality, the present embodiment is in camera lens 4
On flash lamp has also been fixedly installed.
Range sensor 10 is fixed with camera lens 4.
Horizon sensor 6 is fixed with fuselage 1, and the horizon sensor 6 is built in fuselage 1 in the present embodiment.
Both the central shaft of the horizontal limb 2 intersects with the central axis of the vertical circle 3, i.e., not only vertical but also phase
It hands over (in the same plane).
The primary optical axis of the camera lens 4 by above-mentioned 2 central shaft of horizontal limb and the intersection point of 3 central shaft of vertical circle, and
The primary optical axis of camera lens 4 and the central axis of vertical circle 3.I.e. the central shaft of horizontal limb 2, vertical circle 3 central shaft and
The primary optical axis of camera lens 4 intersects at same point and (obviously, rotates horizontal limb 2 and vertical circle 3 anyway, three is still intersecting
In a bit), and the primary optical axis of the central shaft of horizontal limb 2 and camera lens 4 is each perpendicular to the central shaft of vertical circle 3.In addition, institute
The ranging optical axis for stating range sensor 10 is parallel with the primary optical axis of camera lens 4 or overlap arrangement, while the ranging of range sensor 10
The central shaft co-planar arrangement of optical axis and horizontal limb 2.Description to technical scheme for convenience, herein we define water
The central shaft of Pingdu disk 2, the crosspoint of the central shaft of vertical circle 3 and the primary optical axis of camera lens 4 this three axis are centre
Point.
The primary optical axis and the image plane of described image sensor 5 of the camera lens 4 intersect vertically, here, we are by camera lens 4
Primary optical axis and the intersection point of the image plane of imaging sensor 5 are known as principal point.
The row battle array of the photosensitive unit array of described image sensor 5 is parallel with the central shaft of the vertical circle 3.
The array of the photosensitive unit array of described image sensor 5 and the central axis of the vertical circle 3.
The central shaft of the horizon sensor 6 is parallel with the central shaft of the horizontal limb 2, which is used to adjust
Save the horizontal attitude of vision measurer.
It is not difficult to find out, by being adjusted to the rotation of the horizontal limb 2 and vertical circle 3, the primary optical axis of camera lens 4 can be made
Around the shooting angle of the central shaft of vertical circle 3 and the central axis of horizontal limb 2, so adjusting camera lens 4.
In order to facilitate survey crew to the rotation process of horizontal limb 2, the present embodiment is provided on the fuselage 1 and levelness
The horizontal direction adjusting knob 7 that disk 2 is sequentially connected, survey crew can rotate the horizontal direction adjusting knob 7 to drive water manually
Pingdu disk 2 is around the central axis of its own.
In order to facilitate survey crew to the rotation process of vertical circle 3, the present embodiment is provided on the fuselage 1 and verticality
The vertical direction adjusting knob 8 that disk 3 is sequentially connected, it is vertical to drive that survey crew can rotate the vertical direction adjusting knob 7 manually
Straight scale 3 is around the central axis of its own.
In addition, the present embodiment is also provided with the display screen 9 being connected with imaging sensor 5 on the fuselage 1, to ensure to measure people
The image that member can be shot by 9 real-time monitored of display screen.Certainly, which can also pass through corresponding signal transmission
Circuit is connected with the horizontal limb 2, vertical circle 3, range sensor 10 and horizon sensor 6, to directly display out two
The attitude information of the angle information of scale, the range information of range sensor 10 and horizon sensor 6.
The method for being carried out vision measurement to object using this vision measurer of the present embodiment is comprised the following steps：
1) multiple control points of certain density are laid around tested object.
2) preparation is measured, the agent structure of the vision measurer is placed on pedestal, and (pedestal has in the present embodiment
Body use tripod structure) namely tripod at the top of support base on.The three-jaw connector of vision measurer horizontal limb bottom
It is locked with the support base at the top of tripod, the vision measurer is adjusted to level using horizon sensor 6, is measured at this time
Instrument frame station is completed, and vision measurer is in the first measurement erect-position, can start ranging and shooting.
3) manual turn horizontal direction adjusting knob 7 and vertical direction adjusting knob 8 and drive horizontal limb 2 and verticality
Disk 3 rotates, and the ranging optical axis of such range sensor 10 will be around the central shaft of vertical circle 3 and the central shaft of horizontal limb 2
It rotates, so that range sensor 10 (ranging optical axis) is directed at some control point, and then is surveyed using range sensor 10
The distance of ranging datum mark and the control point is taken, which can record (also can manual record) horizontal limb and vertical at this time
The angle information of scale and the attitude information of horizon sensor, certainly, measured distance value can also record in a device.
Horizontal limb 2 and vertical circle 3 are rotated further, and range sensor 10 is made to be directed at next control point, and it is next to measure this
Control point and the distance of ranging datum mark, while record the angle information and horizontal sensor of horizontal limb and vertical circle
The attitude information of device.Then, horizontal limb 2 and vertical circle 3 are rotated further, and range sensor 10 is made to be directed at the 3rd control
Point, and the distance at the 3rd control point and ranging datum mark is measured, while record the angle of horizontal limb and vertical circle
The attitude information of information and horizon sensor.So Xun Huan, so as to be measured multiple (at least three) in same measurement erect-position
The distance of control point and ranging datum mark, and measure each control point apart from while, accordingly record horizontal limb and
The angle information of vertical circle and the attitude information of horizon sensor.
Certainly, we can also range sensor 10 be aligned control point carry out ranging when, using camera lens 4 to object into
Row shooting, the equipment can record the captured image (angle information and horizontal sensor of horizontal limb and vertical circle
The attitude information of device has been recorded in ranging).
4) alignment of camera lens 4 object to be measured is shot, imaging sensor 5 obtains the image of target.But by
Usually all bigger in the distribution of object, single image can not be generally measured completely, it is thus typically necessary to so shoot
Object：Manual turn horizontal direction adjusting knob 7 and vertical direction adjusting knob 8 and drive horizontal limb 2 and vertical circle 3
It rotates, and then the primary optical axis of camera lens 4 is made often to turn to one around the central shaft of vertical circle 3 and the central axis of horizontal limb 2
Ideal position (according to photographer it needs to be determined that) then shoots an image, so as to shoot to obtain multiple mesh in same measurement erect-position
Mark the image of object.Every time during shooting, which can record the image of (also can manual record) shooting, and (obviously, which is
Digital picture), horizontal limb 2 and the angle information of vertical circle 3 and the attitude information of horizon sensor 6.
5) vision measurer is removed to next measurement erect-position, and centre point mark is placed on previous measurement erect-position
Will, the central point of these centre point marks are strictly overlapped with the centre point of the previous measurement erect-position.Then repeat
Step 2) is stated to step 4).
6) so repeat the above steps 5) repeatedly, so as to be shot in multiple measurement erect-positions to object., ensure target
Object is at least measured 2 times；
The shooting and ranging of this erect-position will measure the centre point mark on a measurement erect-position as much as possible.
It is not difficult to find out, the present embodiment in measurement by measuring centre point mark on erect-position before observation by being carried
High measurement accuracy, specific practice are：Centre point mark, centre point are placed on the previous measurement erect-position of vision measurer
The central point of mark is spatially strictly overlapped with centre point, and the vision measurer on latter measurement erect-position measures front
Centre point mark carries out shooting measurement on erect-position.
In step 3), preferably ensure to carry out on all control points of ranging and latter measurement erect-position on previous measurement erect-position
All control points of ranging are carried out, at least there are three be common point.It is consequently facilitating front and rear measurement erect-position is interrelated.
7) after multistation is measured, by the image of all single station shootings and horizontal angle, the vertical angle during single station captured image
With the distance of the ranging datum mark and control point of the attitude information of horizon sensor and all single station measurements and single station measure away from
From when horizontal angle, vertical angle and horizon sensor attitude information carry out overall calculation together.Target point under global coordinate system
Coordinate (XG,YG,ZG) with its subpoint on the image sensor under the pixel coordinate system of vision measurer coordinate (u,
V) relationship is following formula (7), the coordinate (X of target point under global coordinate systemG,YG,ZG) ranging that measures with range sensor
The relationship of datum mark and the distance s at control point are following formula (8).Formula (7) and formula (8) specifically calculate that process is as follows：
Vision measurer is related to 7 coordinate systems:Global coordinate system (OG-XGYGZG), vision instrument initial state coordinate system (OT-
XIYIZI), vision instrument dynamic coordinate system (OT-XDYDZD), camera coordinate system (OC-XCYCZC), photo coordinate system (Of-xy)、
Pixel coordinate system (Op- uv), ranging coordinate system (OS-XSYSZS)。
1st, global coordinate system is a unified coordinate system, for describing the frame of reference of testee position.Vision
After instrument initial state coordinate system stands for vision instrument Dan Zhanshe station racks, with the central shaft of horizontal limb and the intersection point O of vertical circle central shaftT
For origin, using the central shaft of vertical circle as the 1st axis XIAxis, it is positive direction that horizontal adjustment knob, which is directed toward origin direction, with level
The central shaft of scale is the 2nd axis YIAxis is upwards positive direction, Z is determined according to right-hand ruleIAxis.At this time, it is assumed that camera lens primary optical axis
Perpendicular to horizontal limb central shaft, i.e. camera lens primary optical axis is in YIOTZIThe projection of plane and ZIAxis is parallel, the horizontal limb of vision instrument
Reading is 0 °, and vertical circle reading is α °.
The transforming relationship such as following formula (1) of vision instrument initial state coordinate system and global coordinate system：
Wherein,For coordinate system translation parameters, RGISpin matrix, R are converted for coordinateGI=RX(εX)·RY
(εY)·RZ(εZ), εX, εY, εZRespectively three dimensions rectangular coordinates transformation around X-axis, Y-axis, three anglecs of rotation of Z axis,
2nd, when vision instrument measures, vision instrument is rotated around horizontal limb and vertical circle so that camera lens primary optical axis is directed toward quilt
Object is surveyed, horizontal limb and vertical circle can measure corresponding angle value, if horizontal limb reading is hz, the reading of vertical circle
Number is vt.Vision instrument dynamic coordinate system is with the intersection point O of the central shaft of horizontal limb and the central shaft of vertical circleTFor origin,
Using the central shaft of vertical circle as the 1st axis XDAxis, it is positive direction that horizontal adjustment knob, which is directed toward origin direction, using camera lens primary optical axis as
2nd axis ZDAxis, it is positive direction that imaging sensor, which is directed toward lens direction, and Y is determined according to right-hand ruleDAxis.Vision instrument dynamic coordinate system
With the transforming relationship such as following formula (2) of vision instrument initial state coordinate system：
Wherein, RID=RX(vt-α)·RY(2π-hz)
3rd, pixel coordinate system Op-Uv is established on the image plane, with image upper left corner OpFor coordinate origin, pixel is coordinate
Unit, each pixel point coordinates (u, v) represent pixel line number on the image and columns.Meanwhile in order to establish object
Perspective projection relation between 3 d space coordinate and image space two-dimensional coordinate is, it is necessary to be converted to pixel coordinate with metric unit
The photo coordinate system O of expressionf- xy, photo coordinate system is with principal point OfFor origin, i.e., with the primary optical axis and figure of optical lens
As sensor image plane intersection point for origin, x-axis, y-axis are parallel with the u axis of image pixel coordinates system, v axis respectively.Image plane
Transforming relationship such as following formula (3) between coordinate system and pixel coordinate system：
Wherein, dx and dy is that each pixel is expert at respectively to the physical size upward with row；u0And v0It is principal point in picture
Coordinate under plain coordinate system；
4th, camera coordinate system is fixed on optical lens and imaging sensor, is passed with the optical lens centre of perspectivity and image
Based on sensor, camera coordinate system origin is the centre of perspectivity O of optical lensC, ZCThe key light overlapping of axles of axis and optical lens,
Perpendicular to the plane of delineation, camera shooting direction is taken as positive direction, XCAxis, YCAxis is parallel with y-axis with the x-axis of photo coordinate system respectively,
OCOfFor the effective focal length f of optical lens.Image the transforming relationship such as following formula (4) of coordinate system and photo coordinate system:
5th, the transforming relationship such as following formula (5) of camera coordinates and vision instrument dynamic coordinate system：
Wherein,For coordinate system translation parameters, RDCSpin matrix is converted for coordinate,It is three dimensions rectangular coordinates transformation around Y-axis, the anglec of rotation of Z axis,
6th, the ranging datum mark of range sensor is OS, ranging coordinate system is with ranging datum mark OSFor coordinate origin, ranging light
Direction of principal axis is first axle ZSAxis, with the X of vision instrument dynamic coordinate systemDAxis is the second axis XSAxis.Range-measurement system measurement obtains ranging base
On schedule to measured target distance for s, then coordinate of the measured target under ranging coordinate system is (0,0, s), ranging coordinate system with
The transforming relationship such as following formula (6) of vision instrument dynamic coordinate system：
Wherein,For coordinate system translation parameters, RDSSpin matrix is converted for coordinate,It is three dimensions rectangular coordinates transformation around X-axis, the anglec of rotation of Y-axis,
Summary formula (1) to (5) obtains following formula (7)：
Summary formula (1), (2) and (6) obtains following formula (8)：
Wherein,
In the above formulas, matrix M1、M2For the inner parameter matrix of vision measurer, share 16 parameters, these parameters with
The imaging sensor of vision measurer, camera lens, range sensor, angle information, the horizontal sensor of horizontal limb and vertical circle
The attitude information of device and their mutual position relationships are related；Matrix M3It is common for the external parameter matrix of vision measurer
There are 6 parameters, these parameters are vision measurer initial state coordinate system and the translation rotation parameter of global coordinate system；u、v、hz、vt、
S is known observed quantity, pixel point coordinates, the angle value of horizontal limb respectively under pixel coordinate system, the angle of vertical circle
The ranging datum mark and the distance of target point that value, range sensor measure；XG、YG、ZGIt is measured target point under global coordinate system
Coordinate value；Intrinsic Matrix M1、M2In, dx and dy are that each pixel is expert at respectively to the physical size upward with row；u0With
v0For coordinate of the principal point under pixel coordinate system；F is the effective focal length of camera lens；RIDα in matrix is index error of vertical circle, RDCSquare
β, γ in battle array convert the anglec of rotation, R between camera coordinate system and vision measurer dynamic coordinate systemDSMiddle θ, η sit for ranging
The anglec of rotation, T are converted between mark system and vision measurer dynamic coordinate systemDC、TDSRespectively 3 × 1 rank translation matrix；Outer ginseng
Matrix number M3In, spin matrix RGIIn εX, εY, εZFor the anglec of rotation of vision measurer initial state coordinate system and global coordinate system, TGI
For 3 × 1 rank translation matrix.
During being measured at vision measurer list station, due to horizontal limb, the angle information of vertical circle and horizontal biography
The attitude information of sensor has recorded the angle information between different images (image shot), therefore multiple figures of single station measurement
As mutual position relation is known.When carrying out whole resolve, multiple images of erect-position are measured each, only
One M3Matrix demand solution.Moreover, because vision measurer is leveling state, to multiple images of each measurement erect-position, M3Square
Battle array contains only 3 translation parameters and 1 rotation parameter, so greatly reduces the unknown parameter of resolving.Meanwhile utilize single station
Between (single measurement erect-position) image between known azimuth information and multistation the horizontal attitude information of instrument to measured target
Resolving constrained, substantially increase the precision of measurement.In addition, in shooting process is measured, vision measurer is leveling shape
State, then, the primary optical axis of camera lens and the angle of horizontal plane are known on vision measurer, therefore, it can be deduced that each water
Flat height difference.
Meanwhile during being measured at vision measurer list station, due to having recorded the ranging information of range sensor simultaneously
With horizontal limb, the angle information of vertical circle, the elements of exterior orientation of vision measurer is easily determined with this, is so solved
The problem of target code finite capacity when photogrammetry targets are matched.
Important accessory when above-mentioned centre point mark is the measurement of this vision measurer, it is by base shaft and target seat
Two parts form.
The bottom of base shaft is three-jaw location locking mechanism, this three-jaw positioning lock machine mechanism and the three-jaw of 1 bottom of fuselage are determined
Position locking mechanism is identical；Target seat is ball-and-socket location structure, and target seat is fixed on the top of base shaft, and target seat and base shaft are one
It is whole；Base shaft bottom three-jaw location locking mechanism is made of elevation location face and plane positioning cylinder, and plane positioning cylinder
Axis be strictly perpendicular to elevation location face；The ball-and-socket location structure of target seat is the lower concave spherical surface of about 1/3 ball, under
The centre of sphere of concave spherical surface is exactly the central point of centre point mark；The centre of sphere of the ball-and-socket location structure of target seat is to base shaft bottom three
The distance in pawl location locking mechanism elevation location face is a known distance, and the distance is exactly equal to centre point to machine
The distance in body bottom three-jaw location locking mechanism elevation location face；The centre of sphere of the ball-and-socket location structure of target seat is strictly located at base shaft
On the axis of bottom three-jaw location locking mechanism plane positioning cylinder.
Reflectance target is made of the one or more reflector spaces of sphere and distribution thereon, each reflector space and the centre of sphere
There is a known position relationship, the spherical surface of the ball-and-socket location structure of the target seat at the top of the sphere diameter and base shaft of reflectance target is straight
Footpath is equal, and is a known diameter.
When vision measurer works, centre point mark is placed and positioning and locking is in front on the instrument support of survey station
On the pedestal in face, then reflectance target or ranging speculum are placed in the ball-and-socket at the top of the base shaft of centre point mark and positioned
On the spherical surface of structure, the centre of sphere of such reflectance target or ranging speculum is just accurate heavy with the central point of centre point mark
It closes, while the central point of centre point mark is also just overlapped with the centre of front survey station point precision.
The foregoing is a further detailed description of the present application in conjunction with specific implementation manners, it is impossible to assert this Shen
Specific implementation please is confined to these explanations.For those of ordinary skill in the art to which this application belongs, do not taking off
On the premise of conceiving from the application, several simple deduction or replace can also be made.
Claims (6)
1. a kind of vision measurer, including：
Fuselage (1)；
Horizontal limb (2), the horizontal limb are connected on the fuselage, and can be around the center that the horizontal limb is arranged vertically
Axis rotary motion；
Vertical circle (3), the vertical circle are connected on the fuselage, and can be around the horizontally disposed center of the vertical circle
Axis rotary motion；
It is fixed on the camera lens (4) and imaging sensor (5) on the vertical circle and being connected with each other；
With the camera lens (4) fixed range sensor (10)；And
With the fixed horizon sensor of the fuselage (6)；
The central shaft of the horizontal limb (2) and the primary optical axis of the camera lens (4) are respectively perpendicular to the vertical circle (3)
Central shaft, the central shaft of the central shaft of the horizontal limb (2), the primary optical axis of camera lens (4) and vertical circle (3) intersect at one
Point, the primary optical axis and the image plane of described image sensor (5) of the camera lens (4) intersect vertically, the range sensor (10)
Ranging optical axis it is parallel with the primary optical axis of the camera lens (4) or overlap arrangement, and the ranging light of the range sensor (10)
Axis intersects arrangement, the row battle array of the photosensitive unit array of described image sensor (5) and institute with the central shaft of the horizontal limb (2)
State that the central shaft of vertical circle (3) is parallel, array and the vertical circle of the photosensitive unit array of described image sensor (5)
(3) central axis, the central shaft of the horizon sensor (6) are parallel with the central shaft of the horizontal limb (2).
2. vision measurer as described in claim 1, which is characterized in that be provided with and the levelness on the fuselage (1)
The horizontal direction adjusting knob (7) that disk (2) is sequentially connected.
3. vision measurer as described in claim 1, which is characterized in that be provided with and the verticality on the fuselage (1)
The vertical direction adjusting knob (8) that disk (3) is sequentially connected.
4. vision measurer as described in claim 1, which is characterized in that be provided on the fuselage (1) and passed with described image
Sensor (5), the horizontal limb (2), the vertical circle (3), the horizon sensor (6) and the range sensor (10)
Connected display screen (9).
5. vision measurer as described in claim 1, which is characterized in that the fuselage (1) is by being arranged on the horizontal limb
(2) the three-jaw connector of bottom is locked on instrument support.
6. vision measurer as described in claim 1, which is characterized in that be fixedly installed flash lamp on the camera lens (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721130376.XU CN207456379U (en) | 2017-09-05 | 2017-09-05 | A kind of vision measurer |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721130376.XU CN207456379U (en) | 2017-09-05 | 2017-09-05 | A kind of vision measurer |
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| CN207456379U true CN207456379U (en) | 2018-06-05 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108050928A (en) * | 2017-09-05 | 2018-05-18 | 东莞中子科学中心 | A kind of vision measurer and a kind of vision measuring method |
| CN117686034A (en) * | 2024-01-31 | 2024-03-12 | 四川飞拓智控科技有限公司 | Multifunctional measuring type camera |
-
2017
- 2017-09-05 CN CN201721130376.XU patent/CN207456379U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108050928A (en) * | 2017-09-05 | 2018-05-18 | 东莞中子科学中心 | A kind of vision measurer and a kind of vision measuring method |
| CN108050928B (en) * | 2017-09-05 | 2024-03-12 | 东莞中子科学中心 | Visual measuring instrument and visual measuring method |
| CN117686034A (en) * | 2024-01-31 | 2024-03-12 | 四川飞拓智控科技有限公司 | Multifunctional measuring type camera |
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