DE1448607C - Photogrammetric, stereoscopic and spatial-analog working universal evaluation device - Google Patents

Description

1 2

The invention relates to a photogrammetric, c) the setting of the transverse and longitudinal inclination

stereoscopic and spatially analog working uncompensation at only one setting

Upper case evaluation device for affine and conformal design elements permitted and thus the common ones!

Evaluation with normal orientation of the images parallel to the device axes is possible,
Image position, with correction devices for a con- 5 d) purely opto-mechanical and with rigid measuring

stante image shift in the direction of the azimuth of the _O operates ptik and a simple differentiation!

Nadir distance and for variable focal length equalization and automatic evaluation to j

change to reshape the inclined measurement image optical path permitted, j

to the normal case. e) a simple and mechanically easy to master

The exact stereoscopic evaluation of measuring _{construction allows> so that the for}

.pairing of images is mainly done with optical-mechanical precision devices of the first order required

n.sch working evaluation devices in which the measuring accuracy can be achieved,
images to each other and in relation to the device axes

have the same inner and outer orientation as based on the above-mentioned Vorrich when recording. In the analogy process, this goal is achieved by the fact that a very strict restoration of the beam is provided by the external correction device, which carries out an evaluation. Measurement images which were recorded with extremely short variable image shifts depending on the one (oversize angle recordings) or extremely long focal point and the image inclination in the direction of wide (narrow angle recordings) were effected by the azimuth of the nadir distance, and that this can be achieved either because of the large image angle 20 correction movement is linearly coupled with the variable focal point or because of the excessively large dimensions of the change in width and that the setting evaluation chambers do not evaluate in this way or only evaluate the individual correction devices for those with difficulty. In addition, constant image shifting, the variable focal lengths require the gimbals for the inclination of the change and the variable image shifting proportional measurement images and the measurement optics are coupled with one another considerably,
structural effort. The transmission ratio of this coupling can

Attempts have therefore been made that are advantageous for different focal length ranges.

aim to change the inclined recorded measurement changes.

the image optically and mechanically remodel into a strictly normal The mathematical justification of the ^V Inventive measurement image and this affinity, ie with a 30 thought the image 1 is used; An embodiment of the focal length of the evaluation deviating from the recording shows in a greatly simplified representation the B i 1 of the evaluation. The relationship between evaluation and 2a and 2b. ^.

The focal length of the picture is referred to as affinity

factor k. All the vertical relationships in the image space of a recording point are by this factor k

cal lines in the image and model space in reference 35, the main section in azimuth direction

distorted on the horizontal stretches. the nadir distance lies in the plane of the drawing.

Devices of this type are z. B. the stereo projector SPR The direction of affinity is vertical, the affinity of Romanowski and the stereograph of axis runs horizontally through the recording or Drobyscheff. Both device types are liable, the center of perspective O. Accordingly, there is the disadvantage that the general rules for reshaping the measurement images 40, following affinity, corresponding correction devices, image and model points required in the normal position, each on plumb lines (which are not coupled and one after the other and the model space is not drawn). All have to be set in one iteration. In order to circumvent these vertical lines corresponding to differences in difficulty, F. M a η ek and the ratio of the1 affinity factor it are:
H. Schο eier have been labeling other ways. 45 _ _f ■
The evaluation takes place in two crack planes, the -k = ^ ⁰ ^ _ JS ^V m
Reduction to the normal case happens with the Ί> Ρ tgv "
Manek device by bending the handlebars °.
and with the help of auxiliary links and this applies to both the picture and the model bridges, which couple the crack planes with one another. 50 room. The affine image of the recording image plane S3 is the theoretically strict but complicated solution. Evaluation image plane S3 ', the affine image of the projection. The beam PO required for first-order precision devices is the beam P'O. The nadir distance ν of the accuracy can therefore be achieved with justifiable effort. That by H. Schο eevaluation. In the case of a strict affine evaluation, the proposed measuring principle must also work in 55, so the optical or mechanical guide after P ' two crack planes, it is strict and requires a wise, but the associated image point P of high mechanical and electronic effort, the measuring mark must be set got to.
because both planes of the crack are electronically coupled with each other and with the The desired solution requires a horizontal measuring stereo comparator. Image position. The image plane is therefore around the

The aim of the present invention is to obtain a 60 nadir point N running image horizontal (the normal

spatially analogous working photogrammetric to the drawing surface) in the horizontal plane

To create an evaluation device that tilts and shifts vertically parallel to itself,

so that it goes through N ' and N _{0, respectively.} All pixels

a) with normal image position without complex gimbals _ _{with the} exception of those that are on the slope indicated by N for the inclination of the measurement images and the measurement optics _6s | are _o f _s the image horizontally - have thus works against their strict Affinlage P ₀ is a displacement

b) the affine evaluation with any exposure exercise in the direction of the main section (azimuth of the focal lengths and affinity factors allowed, nadir distance).

This shift amount

= J

J _n =

COSV

is strictly proportional to its horizontal distance J ₀ from the image horizontal running through N or N _0.

If one _{assumes the horizontal image plane S 0} as the evaluation plane, then the problem is solved if one finds a device which linearly depends on S _{0 by} the chamber constant c ₀ 'by the amount

ν = J ₀ ig /

(3)

controls continuously and at the same time causes an image shift A s. In addition, there is a constant image principal point shift

15th

= ctg ν

(4)

required also in the direction of the main portion, since the main point N of the image carrier does not need the principal point H are the intake, but the nadir point N _0th

In the B i 1 d e'r η 2a and 2b is a technical Implementation of the inventive concept shown schematically. Figure 2a shows the device in normal position with vertical handlebars, but with adjusted correction devices, because of the more comfortable Representation of the special case was assumed that the set decentering in the character. lie level. Figure 2b shows the device in the working position with inclined main link, which was also placed in the drawing plane in the illustration.

The main image carriage W ₁ with the measurement image M is moved by the main link L ₁ over the fixed observation and measurement system B parallel to itself in a horizontal plane in both coordinate directions y and y. The main link L ₁ engages the picture carriage cardan AT ₂ and rotates around the device-fixed cardan center AT ₁ , the movement is initiated by the model point cardan K ₃ (referred to in the specialist literature as the starting point). On the main picture carriage W ₁ , the base plate G carrying the picture carriage cardan AT _{2 is arranged so as to be vertically displaceable.} The desired evaluation _{focal length c 0} 'can be set either by a detectable vertical displacement of the cardan K ₁ on the stationary device or by a detectable displacement of the picture carriage cardan AT ₂ on the base plate G before the start of the evaluation. - /.;

The variable change in the focal length as a function of the image inclination and the distance J ₀ is controlled by a plate P and the auxiliary link L ₂ . The plate P is mounted in a cardanic manner _{around a point AT 5} on the image dare W _{1 that} is in the plate or guide plane. The link L ₂ is rigidly connected to the plate P , it is normal to her, and the link axis runs through the cardan point AT5. μ

The other Lehkerende leads through the gimbal mounted ^ but device-fixed guide sleeve AT ₄ . The vertical distance / between the two cardan centers AT ₄ and AT ₅ can be changed by a detectable vertical displacement of Ki measurable before the start of the evaluation and set to a desired value. In the event of a carriage movement, the link L ₂ thus pivots about the point K _A and tilts the plate P about AV

24

ι- ⁵ A
12 )

The plate P is the vertical probe head A opposite. It is arranged horizontally on the base plate G so that it can be moved horizontally in two coordinate directions at right angles to one another, which run parallel to the .v and _y device axes. In its zero position, which corresponds to a horizontal image position (recording inclination ν = O), it is exactly below the cardan, AT ₅ . When the image is tilted, the probe head A is shifted noticeably by the amount D ₁ in the azimuth direction of the nadir distance (main cutting direction), the shift D ₁ taking place with the aid of the compound slide S ₁ in the two components D _X1 and Dy ₁ .

The upper end of the probe head A always touches the plate area P. The center of the spherical head of A is always in the guide plane of the plate P, in which AT _{5 also} lies. Instead of this ball head, you can use a cardan that slides in "P 's guide plane.

Since the base plate G is vertically movable by means of the two guides F ₁ and F ₂ , it always follows the vertical movement of the bolt A depending on the tilting of the plate P. Only one such movement component of the link L ₂ leads to a vertical movement of the bolt A or the base plate G, which lies in the main cutting direction (azimuth of the nadir distance). As can easily be seen, the cardan AT ₅ therefore always moves on a plane, the inclination of which depends on the decentering D ₁ and the vertical distance / the link cardan AT ₁ and K _5.

There are the simple relationships (Figure 2b)

• x .. ■ -; ■ / ■ V = D ₁ -

The decentering D ₁ is direct or via a translation «! with a decentering D of the image carrier carriage W ₃ against the intermediate carriage W ₂ - also in two right-angled horizontal components D _x and Dy - coupled, either mechanically or with resolvers. For this decentering the following is required according to Formula 4:

whereby .

D _x = C-IgV *,

Dy = C -IgVy,
D * = D _x * + Dy \

D ₁ = U ₁ -D.

Formula (6) inserted into (5) gives
"c-tgi>.

V = M ₁

In formula (3) it is required that
»· - J ₀ tg v.

i 44Ö 607

With formula (1) therefore results for the translation Mj

and for the Absland /

(7)

M ₁ -C

(8) From this one derives after a series expansion of tg ν :

+ ₄ ). ο »

Therefore, before starting the orientation process

(Λ) = 2-ck-ü ₂ (13)

set. The correction link

One can therefore choose a few gear ratios and at the same time be able to vary them of / to adhere exactly to condition (8).

The above formulas are completely strict, and the device described thus fulfills the requirements Control of the evaluation focal length.

A second auxiliary link L ₃ is used to correct Ji . It is gimbaled around a fixed pivot point A ₈ on the picture carriage W _1. The other end of the handlebar leads through a gimbal-mounted guide _{sleeve A 8, which is} also attached to the picture carriage W ₁ . The vertical distance Λ between A ' ₆ and A ₈ can be changed measurably by a detectable vertical _{displacement of A 6.} This cardan A ₈ can also be moved horizontally with the aid of a cross slide S _2. This decentering D ₂ in turn takes place in two components D _X2 and Dy ₂ and is coupled directly to the decentering D with the ratio H _2. In the zero position D ₂ = 0 , the auxiliary link L _{3 is} vertical. During the evaluation, that is to say in the case of a picture carriage movement, this handlebar position set during the orientation remains unchanged in contrast to L _2.

Another gimbal-mounted guide sleeve K- slides on the link L ₃ , the center of which for ν - 0 coincides with the center of rotation A _{8 of} the link L ₃ . This cardan sleeve is guided vertically and parallel to itself by the guide F ₃ and takes part in the vertical movement of the base plate G via the driver E. The guide F ₃ stands vertically on the image carrier intermediate carriage W ₂ . which rests on the image main carriage W ₁ and can perform small horizontal parallel shifts in relation to it. During a corrective movement ν of the base plate G , the cardan A ₇ slides on the obliquely positioned link and thereby takes the picture carriage W ₂ and the picture carriage W ₃ with the measurement image M resting on it with it in the horizontal direction. This shift Ji inevitably takes place in the direction of the azimuth of the inclination of the link L ₃ , which, as a result of the decentering D _2, coincides with the main cutting direction, that is to say the azimuth of the nadir distance. The following relationships exist:

Δ h = c · k · ti »

(14)

can usually be neglected. With larger ones After a preliminary orientation, nadir distances can be easily converted to the final amount

h = \ h) + Ah '. (15)

improve, since then ν is known with sufficient accuracy.

The orientation process with a device constructed according to this principle happens in the same way In the same way as on a known conventional stereo mapping device. At the beginning of the orientation is like at set the evaluation focal length for those devices.

in this case the amount

has; the strict value:
ck

c-k _ΙΛι ν * \

cosv \ 2 /

(16)

(17)

D ₂ = Yt ' D. -'Ζ Ji _
V P *
H Ji = V
H D ₂ = "

ü ₂ D _ H ₁ - ü _t - c * tg'v.JQ

h ~ h-f

(10) According to equation (2) it is required that

As = MvM ^5. "A = *. · *« "· ■ '» β · * -V 2 \ 12 I hf

(ID practically does not differ from (C ₀ '), but after the preliminary orientation, this setting value can also be corrected, like A, with the second-order term ^.

In addition to this evaluation focal length, the distance calculated according to equation (8) and the one according to Set the value A calculated by equation (13).

The relative and absolute orientation then takes place in the same way as in the known conventional evaluation devices, with the decentering D _x corresponding to the longitudinal inclination and the decentering D _y corresponding to the cross-slope component. In contrast to those evaluation devices, however, there are no primary and secondary inclination axes here. The linear decentrations D _x and D _v have an advantageous effect on the absolute orientation, since the height errors measured in the model do not have to be converted into angle values, but instead result in direct linear corrections for D _x and D _y .

The present construction principle offers the following advantages:

The device enables the strict evaluation of measurement images of all practically occurring occurrences * took focal lengths.

The horizontal picture position and the horizontally movable picture carriers allow the construction of a very simple and fixed observation optics.

The always horizontal image carriers do not cause any deforming and therefore accuracy-reducing Powers. All moving parts of the device, including the handlebars, can be precisely balanced against each other

so that they are in equilibrium in every position condition. . -

Tiltable picture carriers and the necessary frames and cardans are not required. Instead, leave it

the picture and model wagons on horizontal and move device-fixed guides.

The correction devices for inclination compensation only perform small, heavily stocky ones Movements from, the relevant components can therefore be produced and produced with high precision accurate corrections.

The correction devices are proportionally coupled to one another, so that for one degree of freedom orientation, only one control element has to be operated at a time. The process of orientation takes place in the same way as with the classic evaluation devices.

The correction device to compensate for the image tilt can be without additional effort Compensation of any systematic distortion errors of the taking lens. of compensation atmospheric influences and the curvature of the earth.

The always horizontal measurement image position and the fixed observation optics allow a simple Additional device for orthoprojection for differential equalization mountainous terrain.

The model space is always optimally in the .v-, v- and r-ranges are used, since the evaluation always uses a mean chamber constant between about 150 and 200 mm can be made.

Claims (6)

Claims: 30 1. Photogrammetric, stereoscopic and spatially analog working universal weathering device for affine and conformal evaluation with normal image position parallel to the device axes, with correction devices for a constant image shift in the direction of the azimuth of the nadir distance and for a variable focal length change to reshape the inclined measurement image to the normal case , characterized in that a further correction device is provided which effects a variable image shift (Ji) depending on the set image point and the image inclination in the direction of the azimuth of the nadir distance and that this correction movement (Ja) linearly with the variable focal length change (»· ) is coupled: and that the settings of the individual correction devices for the constant image shift (D), the variable focal length change (ν) and the variable image shift (J i) are proportionally coupled to one another. 2. Apparatus according to claim 1, characterized in that the coupled together Correction devices are arranged on the image carriage. 3. Apparatus according to claim 1, characterized in that the variable focal length change (ι) by a vertically on the image main carriage ( W ₁ ) guided base plate (G). happens, which carries the picture carriage cardan (K ₂ ) and a horizontally in the components (D ₁₁ and Dy ₁ ) displaceable probe head (A) and the probe head tip is guided in the plane (P) of an all-round tilting plate around the Image main carriage (W ₁ ) arranged cardan center (K ₅ ) rotates and the tilting is controllable by a link (L ₂ ) which is normal in the cardan center (K ₅ ) on the plate (P) and the other end of a vertical one Distance (/) from the cardan plate (K ₅ ) gimbaled and vertically displaceable and lockable guide sleeve (K ₁ ) on the device frame is tied. 4. Apparatus according to claim 1, characterized in that the variable image shift (J 5) by an intermediate carriage carrying the measurement image (W ₂ ) happens, which dare on the main image (W ₁ ) is guided horizontally and parallel to itself and by a Cardan sleeve (AT ₇ ) is controllable, which takes part in the vertical movement (v) of the base plate (G) and on a in azi-. courage direction of the nadir distance inclined handlebars ^) slides. . 5. Apparatus according to claim 3 and 4, characterized in that the link (L ₃ ) is mounted on the main _{picture carriage (W 1} ) in the cardan center (AT ₈ ) and its inclination is supported by a guide sleeve (AT) mounted on the picture carriage (Iy ₁ ) ₆ ) is determined, which can be adjusted both horizontally in the components (D ₁₂ and Dy ₂ ) and vertically at a distance (A) from (AT ₈ ) and on which the gimbal-mounted and the one on the intermediate carriage (W ₂ ) Guide (F ₃ ) vertical and parallel to itself guided Kärdan sleeve (AT ₇ ) slides and a vertical movement (v) of the cardan (AT ₇ ) caused by the vertical movement (v) of the base plate (G) and a driver (E) directly is transferable. 6. Apparatus according to claim 1, 2 and 3, characterized in that the coupling gears, which couple the constant image shift (D _x or D _y ) with the shift _{(D XI} or D _V1 ) linearly with one another, are interchangeable and on this Way the transmission ratio (γ _χ ) is changeable. ■ '■■■. · 1 sheet of drawings 109 643/48