KR100493809B1 - Coordinate Transformation Method of Three-Dimension Image and Data Points Using Reference Coordinate - Google Patents

Abstract

A reference coordinate table consisting of a horizontal plate on which a level gauge is installed and a true north plate on which a compass is installed so that information about the azimuth and direction on the earth's surface can be obtained from the three-dimensional image and points of the object, 3 using a reference coordinate system including a laser scanner for surveying a plate, and a computer for realizing a 3D image using the 3D position information of the measured object and transforming the 3D image and a point using a reference coordinate system. Provides coordinate transformation system of dimensional image and point.

In addition, the reference frame consisting of a horizontal plate on which a level gauge is installed and a true north plate on which a compass is installed is installed at a position close to the object to be surveyed. And collecting the three-dimensional position information of each point and the horizontal plate and the true north plate of the object while rotating the laser scanner at a predetermined angle, and using the computer to generate the three-dimensional image of the object using the three-dimensional position information of each point. The present invention provides a coordinate transformation method of a three-dimensional image and a station using a reference coordinate system, which consists of a process of setting a reference coordinate system using position information of the horizontal plate and the true north plate, and transforming the three-dimensional image and the station of the object.

Description

Coordinate Transformation Method of Three-Dimension Image and Data Points Using Reference Coordinate}

The present invention relates to a three-dimensional image and a coordinate transformation system and method of the station using a reference coordinate system, and more particularly, three-dimensional position information of each point because the reference coordinate values are measured together when measuring by scanning a laser on the object The present invention relates to a coordinate transformation system and method for a three-dimensional image and a point using a reference coordinate system capable of implementing a three-dimensional image and then transforming the coordinate into a reference coordinate system.

In general, various methods are used to measure a three-dimensional position of an object (buildings, slopes, rock joints, etc.) using lasers. Method to measure by using interference of light, method to measure by using the phase difference between original light to be reflected and returning light, and to measure reflected pulse that is reflected back to the object by using pulsed light Method and the like.

In the conventional laser measuring method, the value of the distance from the laser measuring device to the object can be measured precisely, but the relationship between the object and the horizontal plane on the earth and the true north direction is unknown. That is, information about the distance and angle between each measuring point (measurement point) of the object and the laser measuring device, the distance and angle between neighboring measuring points can be obtained precisely, but the information about the direction such as horizontal and azimuth on the ground surface Can not get.

For example, if the object is a joint of a rock on a slope of the road, measurements of the distance from the laser meter to each station and the distance between the stations can be obtained, but information about the perimeter and slope of the rock joint may be obtained. none.

The present invention uses a reference coordinate system that provides information on the horizontal and azimuth by focusing on these points, so that the three-dimensional image of the object is implemented by using three-dimensional position information of each point measured using a laser It is an object of the present invention to provide a coordinate transformation system and method for a three-dimensional image and a station using a reference coordinate system capable of coordinate transformation in accordance with a coordinate system.

The coordinate transformation system of the three-dimensional image and the point using the reference coordinate system proposed by the present invention consists of a horizontal plate on which the level gauge is installed and a true north plate on which the compass is installed, and a reference coordinate table installed at a position close to the object, and A laser scanner that scans a laser beam while rotating at an angle and receives and reflects light reflected from the object and the horizontal and true north plates; a support for stably supporting the laser scanner; and a measurement with the laser scanner Coordinate transformation of the three-dimensional image and the point of the object using a reference coordinate system that implements the three-dimensional image of the object by using the three-dimensional position information of one object and sets the position information of the horizontal and true north plates. That is done including the computer.

The support and the reference frame is configured as a tripod to be able to stably support even in curved terrain.

And the coordinate transformation method of the three-dimensional image and the point using the reference coordinate system proposed by the present invention is installed in a position close to the object to be measured, the reference coordinate table consisting of a horizontal plate installed with a level gauge and a true north plate installed with a compass, Align the horizontal plate of the reference frame to the horizontal plane and position the true north plate to match the true north direction, scan the laser beam on the horizontal plate and true north plate of the object and the reference coordinate table while rotating the laser scanner at a predetermined angle. Receives the light reflected from one horizontal plate and true north plate, collects the three-dimensional position information of each point of the object and the position information of the horizontal plate and true north plate, and the three-dimensional position information of each point by computer The 3D image of the object and the image of each point in the arbitrary coordinate system are implemented using Using the location information of bukpan set a reference coordinate system, and comprises a process of coordinate conversion of the three-dimensional image of the object station and the reference coordinate system.

Next, a preferred embodiment of the coordinate transformation system and method for a three-dimensional image and a station using a reference coordinate system according to the present invention will be described in detail with reference to the drawings.

First, an embodiment of the coordinate transformation system of a three-dimensional image and a station using a reference coordinate system according to the present invention, as shown in Figs. The reference coordinate table 10, which is composed of a true north plate 14, which is installed), is installed at a position proximate to the object 2, and scans the laser beam while rotating at a predetermined angle. The laser scanner 20 which receives and reflects the light reflected by the flat plate 12 and the true north board 14, the support stand 30 which stably supports the said laser scanner 20, The said laser scanner ( Standard for implementing a three-dimensional image of the object (2) using the three-dimensional position information of the object (2) measured in 20) and set using the position information of the horizontal plate 12 and true north plate (14) Computer (4) for coordinate transformation of the three-dimensional image and the point of the object (2) using a coordinate system 0), including.

The reference coordinate table 10 is provided with three legs 16 to be installed in a stable state even in a curved terrain.

The three legs 16 are configured so that the length can be changed, and it is preferable that the three legs 16 can be configured so as to be able to change the angle of each other, so that various changes can be made as necessary to correspond.

Since the three legs 16 can be implemented using a tripod which is generally used for a camera, a surveying instrument, or the like, the detailed description thereof will be omitted.

In addition, a vertical plate 19 is installed at one adjacent edge of the horizontal plate 12 and the true north plate 14 of the reference coordinate table 10 so that the position of the horizontal plate 12 and the true north plate 14 is structural. It is preferable to configure so as to maintain a stable state.

The compass 15 installed on the true north board 14 is for precisely matching the direction of the true north board 14 to the true north (dobuk). The north side of the true north board 14 has an N pole and It is desirable to form a display that can confirm whether or not the S poles coincide.

The level gauge 13 installed on the horizontal plate 12 is for precisely adjusting the horizontal level of the horizontal plate 14, and may be configured as two straight lines formed at right angles as shown in FIG. As shown in FIG. 4, it is also possible to comprise a circular shape with a cross mark.

1 and 2, the support 30 is configured in a tripod shape so as to stably support the laser scanner 20 even in curved terrain.

The support 30 may be positioned to position the laser scanner 20 in a horizontal state as shown in FIG. 1, and may support the laser scanner 20 in a vertical state as shown in FIG. 2. It is desirable to configure so that it is possible to change.

The support 30 has an axial support 32 for rotatably supporting the laser scanner 20, a first bracket 33 installed on the bottom of the axial support 32, and the first The second bracket 34 is connected to the first bracket 33 so as to be changed at a predetermined angle, and three legs 36 are provided on the bottom surface of the second bracket 34.

The first bracket 33 and the second bracket 34 of the support 30 are changed angle by a predetermined angle (for example, 0.1 ° unit, 0.5 ° unit, 1 ° unit or 5 ° unit, etc.) Configure to fix the next position.

The angle of the first bracket 33 and the second bracket 34 of the support 30 is configured to be changed up to 90 °.

Since the configuration of the first bracket 33, the second bracket, the three legs 36 and the like of the support 30 can be generally performed using a configuration used for a tripod of a camera or a surveying instrument, a detailed description will be given. Is omitted.

The laser scanner 20 is rotatable, for example, by 320 °, and includes a laser unit 22 for scanning a laser beam, a light receiving unit 24 for receiving reflected light, and a laser beam for scanning. It comprises a camera unit 26 for photographing the object (2) at the time.

The mirror (not shown) of the laser unit 22 and / or the lens (not shown) of the camera unit 26 are configured to rotate at a predetermined angle (for example, about 46 °). In this case, since the laser scanner 20 rotates again by 46 ° to the left and right while rotating 320 °, it is possible to scan the laser widely with respect to the area constituting a part of the sphere, and to survey the non-line surface.

And by adjusting the angle between the first bracket 33 and the second bracket 34 of the support 30 it is possible to survey a larger area in a fixed state at one point.

The camera unit 26 is made using a CCD camera.

The laser scanner 20 can be configured and used in various ways, and since the basic configuration can be implemented by applying various systems used in a general laser measuring method, a detailed description of the configuration will be omitted.

And one embodiment of the coordinate transformation method of the three-dimensional image and the point using the reference coordinate system according to the present invention, as shown in Figs. 5 to 11, the horizontal plate 12 and the compass 15, the level gauge 13 is installed ) Is installed in a position close to the object (2) to be surveyed, the reference coordinate table 10 consisting of a true north plate 14 is installed, the horizontal plate 12 of the reference coordinate table 10 to the horizontal plane and true north plate Position the laser beam 14 so as to coincide with the true north direction, and rotate the laser scanner 20 at a predetermined angle (for example, 320 ° × 46 ° × 90 °) to move the laser beam to the object 2 and the reference coordinate table. Scanning to the horizontal plate 12 and true north plate 14 of (10) and receiving the light reflected from the object (2) and the horizontal plate 12 and true north plate 14 to each point of the object (2) Collects three-dimensional positional information about and the positional information of the horizontal plate 12 and the true north board 14, and the computer 40 The 3D image and the image of each point are implemented using the 3D position information, and the reference coordinate system is set using the position information of the horizontal plate 12 and the true north plate 14, and the object (2). Coordinate transformation of the 3D image and the point of reference to the reference coordinate system.

The horizontal plate 12 is set to a reference position set by adjusting the height and angle of the three legs 16 while leveling by using the level gauge 13 installed on the horizontal plate 12 of the reference coordinate table 10 above. Position it.

Then, using the compass 15 installed in the true north plate 14, the direction of the true north plate 14 is positioned in the true north (dobuk) direction.

That is, as shown in FIG. 6, the reference coordinate table 10 is installed at a position close to the object 2, and the horizontal plate 12 and the true north plate 14 are positioned in the horizontal plane and the true north direction, respectively.

The reference point of the reference coordinate system is the internal vertex of the horizontal plate 12, the true north plate 14, and the vertical plate 19 of the reference coordinate table 10 positioned in the horizontal plane and the true north direction as described above. , 0), the inner edge where the horizontal plate 12 and the vertical plate 19 meet as the latitude axis, and the inner edge where the true north plate 14 and the horizontal plate 12 meet as the longitudinal axis (or true north). Axis), and the inner edge where the vertical plate 19 and the true north plate 14 meet is set as the height axis.

That is, the horizontal plate 12 and the true north of the reference coordinate table 10 shaped by the computer 40 using three-dimensional position information of each point of the reference coordinate table 10 surveyed by the laser scanner 20. The three-dimensional image and the station for the plate 14 and the vertical plate 19 are set as the reference coordinate system for the three-dimensional image and the station for the object 2.

The laser scanner 20 scans the object 2 while rotating at a predetermined angle (for example, 320 °), and then adjusts the angle of the mirror of the laser unit 22 at a predetermined interval (for example, 0.1 °), and then repeats the scanning process while rotating at a predetermined angle to perform surveying on the object 2. Since the interval between each point which can be measured by the said laser scanner 20 can be set to about 0.1 mm precisely, three-dimensional positional information about the object 2 can be obtained very accurately.

By adjusting the angle of the first bracket 33 and the second bracket 34 of the support 30 in the above, the range that can be scanned and surveyed is expanded to a very wide range.

The three-rower position information for each point of the surveyed object 2 and the reference coordinate table 10 is displayed as a point in the computer 40 (see FIG. 7). In the above-described computer 40, each point indicated by a point is connected to a neighboring point by a triangular net to form a frame (see FIG. 8), and a rendering process is performed on the frame so that the object 2 and the reference are formed by constructing a face. The coordinate table 10 is implemented as a 3D image (see FIG. 9).

The reference coordinate table 10 implemented as a three-dimensional image is used as a reference coordinate system. When the coordinate transformation is performed on the three-dimensional image and the point of the object 2 in accordance with the reference coordinate system implemented as described above according to latitude and longitude, the direction of the actual object 2 can be known.

10 shows a state before performing coordinate transformation, and FIG. 11 shows a state in which coordinate transformation has been performed. That is, the coordinate system set by the user (coordinate system indicating the latitude, longitude, and height on the screen) and the reference coordinate system displayed as a rectangular parallelepiped and the reference coordinate system are shifted at a predetermined angle as shown in FIG. 10. By matching the directions, coordinate transformation of the three-dimensional image and the point on the object 2 is performed in the state as shown in FIG. 11. Therefore, coordinate transformation is made very easy.

In the above, a preferred embodiment of the coordinate transformation system and method for a three-dimensional image and a station using a reference coordinate system according to the present invention has been described, but the present invention is not limited thereto, and the claims and the detailed description of the invention and the Various modifications can be made within the scope of the drawings, which also fall within the scope of the present invention.

According to the coordinate transformation system and method of the three-dimensional image and the station using the reference coordinate system according to the present invention made as described above, the reference coordinate table is scanned together by the laser scanner in an integrated state with the object, the three-dimensional position for each point Since the information is obtained, the reference coordinate system is realized while the object is three-dimensionally imaged. Therefore, it is possible to freely transform the direction of the object to the coordinate system desired by the user based on the reference coordinate system, and the coordinate conversion operation is made very easy.

1 is a perspective view showing an embodiment of a coordinate transformation system of a three-dimensional image and a station using a reference coordinate system according to the present invention.

Figure 2 is a perspective view showing one embodiment of a laser scanner according to the present invention.

3 is a perspective view showing an embodiment of a reference coordinate table according to the present invention.

Figure 4 is a perspective view showing another embodiment of the reference coordinate table according to the present invention.

5 is a flowchart illustrating an embodiment of a coordinate transformation method of a 3D image and a station using a reference coordinate system according to the present invention.

Figure 6 is a photograph showing a state in which the reference coordinate table according to the present invention installed in a position close to the object.

Figure 7 is an image photograph showing each point of surveying the horizontal plate and true north plate of the object and the reference coordinate table using a laser scanner according to the present invention.

FIG. 8 is an image photograph showing a state in which a frame is formed by connecting each point shown in FIG. 7 with a triangular net;

FIG. 9 is an image photograph illustrating a state in which a frame shown in FIG. 8 is rendered and implemented as a 3D image. FIG.

FIG. 10 is an image photograph illustrating a state before coordinate transformation of the 3D image and the station of FIG. 9. FIG.

FIG. 11 is an image photograph illustrating a state in which coordinate transformation is performed on the 3D image and the station of FIG. 9. FIG.

Claims (5)

delete delete delete A reference coordinate table consisting of a horizontal plate on which a level gauge is installed and a true north plate on which a compass is installed, is installed near the object to be surveyed. Align the horizontal plate of the reference frame with the horizontal plane and align the true north plate with the true north direction. While rotating the laser scanner at a predetermined angle, the laser beam is scanned on the horizontal plate and the true north plate of the object and reference coordinate table, and the light reflected from the object and the horizontal plate and the true north plate is received. Collect information and location information of the horizontal and true north plates, The computer realizes the 3D image of the object and the image of the station using the 3D position information of each point described above, sets the reference coordinate system using the position information of the horizontal plate and the true north plate, and the 3D image of the object. And a coordinate transformation method of a 3D image and a station using a reference coordinate system, which comprises a process of transforming a station. The method of claim 4, wherein the coordinate transformation performed by the computer Create a frame by connecting each station represented by a point on your computer with a triangle between neighboring stations, Rendering is performed on the frame, so that the object and the reference coordinate table are realized as a 3D image by constructing a plane. Using the reference frame implemented as a 3D image as the reference coordinate system, A coordinate transformation method of a three-dimensional image and a point using a reference coordinate system comprising the step of transforming the three-dimensional image and the station by the coordinate transformation according to the coordinate system set by the user.