CN108709542B - Coordinate transformation-based rapid measurement method, system and device - Google Patents
Coordinate transformation-based rapid measurement method, system and device Download PDFInfo
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- CN108709542B CN108709542B CN201810683217.5A CN201810683217A CN108709542B CN 108709542 B CN108709542 B CN 108709542B CN 201810683217 A CN201810683217 A CN 201810683217A CN 108709542 B CN108709542 B CN 108709542B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4804—Auxiliary means for detecting or identifying lidar signals or the like, e.g. laser illuminators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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Abstract
The invention relates to the field of measurement, in particular to a rapid measurement method, a system and a device based on coordinate transformation. If the optical axis of the camera and the laser beam of the laser measurer are coplanar and non-coaxial, acquiring a distance measurement distance of the object to be measured on the laser beam of the laser measurer and a first distance from the central point of the optical axis of the camera to a laser beam emission point on the laser measurer; substituting the ranging distance and the first distance into an arc tangent function to calculate an angle number; and adjusting the rotation angle of the camera according to the angle number to enable the optical axis on the camera to be intersected with the laser beam on the laser measurer on the object to be measured. Under different ranges, the laser spot of the laser measurer is always positioned at the center of a video picture of the camera, and under the condition that the laser spot cannot be seen clearly, the target measurement position is locked through the center of the video picture, so that the measurement is completed, and the problem that the laser drop point position cannot be determined due to strong light, long distance and the like is solved.
Description
The application is a divisional application with the application number of 201710353551.X, the application date of 2017, 05 and 18 months, and the name of measurement method, system and device.
Technical Field
The invention relates to the field of measurement, in particular to a rapid measurement method, a system and a device based on coordinate transformation.
Background
Land survey and house measurement are careless and troublesome works of all departments, and the data obtained by the survey is a protected object serving as property rights and has legal effectiveness. According to the traditional measuring means, the point needs to be manually run, a tape measure or a steel tape measure is used for measurement, although the basic requirements can be met, the problems of low efficiency, poor precision, long time, difficult operation and the like exist in the aspect of long-distance measurement, such as measurement of layer height and measurement of places which are difficult to reach.
With the development of high and new technology, a laser range finder appears, and the laser range finder is particularly suitable for measuring middle-high-rise and long-distance houses with complex building structures. The instrument is simple and convenient to use (can be used for non-contact measurement), the measured data is accurate, the working efficiency is improved, the traditional method for measuring the house by using a tape measure (or a steel tape measure) is completely abandoned, the surveying error is reduced, the measuring accuracy is ensured, and the measuring result is more convincing. However, the existing laser range finder still has the aspect of improvement, for example, under the conditions that indoor light is too bright, outdoor sunlight is too strong or the distance is long, the laser points emitted by the laser range finder cannot be seen clearly, the laser points cannot be accurately positioned on a target object, and at the moment, auxiliary equipment such as a telescope and the like is needed.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the coordinate transformation-based measuring method, system and device can realize accurate focusing and accurate measurement under the condition of poor measuring environment.
In order to solve the above technical problems, a first technical solution adopted by the present invention is:
a measuring method based on coordinate transformation comprises the following steps:
if the optical axis of the camera and the laser beam of the laser measurer are coplanar and non-coaxial, acquiring a distance measuring distance of the object to be measured on the laser beam of the laser measurer and a first distance from an optical axis center point on the camera to a laser beam emitting point on the laser measurer, wherein a connecting line of the optical axis center point on the camera and the laser beam emitting point on the laser measurer is perpendicular to the laser beam of the laser measurer;
substituting the ranging distance and the first distance into an arc tangent function to calculate an angle number;
and adjusting the rotation angle of the camera according to the angle number to enable the optical axis on the camera to be intersected with the laser beam on the laser measurer on the object to be measured.
The second technical scheme adopted by the invention is as follows:
a measurement system based on coordinate transformation comprises a focusing module;
the focusing module comprises a first acquisition unit, a first calculation unit and an adjustment unit;
the first acquisition unit is used for acquiring a distance measurement distance of the object to be measured on the laser beam of the laser measurer and a first distance from an optical axis center point on the camera to a laser beam emission point on the laser measurer if the optical axis of the camera and the laser beam of the laser measurer are coplanar and non-coaxial, wherein a connecting line of the optical axis center point on the camera and the laser beam emission point on the laser measurer is vertical to the laser beam of the laser measurer;
the first calculating unit is used for substituting the ranging distance and the first distance into an arc tangent function to calculate an angle degree;
and the adjusting unit is used for adjusting the rotation angle of the camera according to the angle number so that the optical axis on the camera is intersected with the laser beam on the laser measurer on the object to be measured.
The third technical scheme adopted by the invention is as follows:
a measuring device based on coordinate transformation comprises a measuring end; the measuring end comprises a laser measurer, a camera and an angle adjuster; the connecting line of the optical axis center point on the camera and the laser beam emitting point on the laser measurer is vertical to the laser beam of the laser measurer; the angle adjuster is connected with the camera and used for adjusting the angle of the camera so that the optical axis on the camera is intersected with the laser beam on the laser measurer on the object to be measured.
The invention has the beneficial effects that:
according to the measuring method, system and device based on coordinate transformation, the geometric angle relation among the optical axis of the camera, the laser beam of the laser measurer and the first distance between the optical axis center of the camera and the laser beam of the laser measurer is established, the included angle degree formed by the optical axis of the camera and the laser beam of the laser measurer when the optical axis of the camera and the laser beam of the laser measurer are positioned on a target to be measured in an intersecting mode is obtained through calculation, the rotating angle of the camera is adjusted according to the included angle degree, accurate focusing is achieved, the laser light spots of the laser measurer are always positioned at the center of a video picture of the camera under different measuring ranges, the target measuring position is locked through the center of the video picture under the condition that the laser light spots cannot be seen, measuring is achieved, and the problem that the laser drop point position cannot be determined due to strong light.
Drawings
FIG. 1 is a flow chart of the focusing step of the coordinate transformation-based measurement method of the present invention;
FIG. 2 is a flow chart of the measurement steps of the coordinate transformation-based measurement method of the present invention;
FIG. 3 is a schematic diagram of coordinate transformation of the coordinate transformation-based measurement method of the present invention;
FIG. 4 is a schematic diagram of a coordinate transformation-based measurement system according to the present invention;
description of reference numerals:
1. a laser measurer; 2. a camera; 3. an angle adjuster.
Detailed Description
In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
Referring to fig. 1, a measurement method based on coordinate transformation provided by the present invention includes a focusing step:
if the optical axis of the camera and the laser beam of the laser measurer are coplanar and non-coaxial, acquiring a distance measurement distance L of the object to be measured on the laser beam of the laser measurer and a first distance H from the optical axis center point on the camera to the laser beam emission point on the laser measurer, wherein the connecting line of the optical axis center point on the camera and the laser beam emission point on the laser measurer is perpendicular to the laser beam of the laser measurer;
substituting the ranging distance and the first distance into an arc tangent function to calculate an angle arctan (H/L);
and adjusting the rotation angle of the camera according to the angle number to enable the optical axis on the camera to be intersected with the laser beam on the laser measurer on the object to be measured.
According to the measuring method based on coordinate transformation, the geometric angle relation among the optical axis of the camera, the laser beam of the laser measurer and the first distance between the optical axis center of the camera and the laser beam of the laser measurer is established, the included angle degree formed by the optical axis of the camera and the laser beam of the laser measurer when the optical axis of the camera and the laser beam of the laser measurer are positioned on a target to be measured in an intersecting mode is obtained through calculation, the rotating angle of the camera is adjusted according to the included angle degree, accurate focusing is achieved, the laser light spots of the laser measurer are always positioned at the center of a video picture of the camera under different measuring ranges, the target measuring position is locked through the center of the video picture under the condition that the laser light spots cannot be seen clearly, measuring is further completed, and the problem that the laser drop point position cannot be determined due to strong.
As shown in fig. 2 and fig. 3, further, the method further comprises the following measuring steps:
when the starting point of the target to be measured is located at the central point of the optical axis of the camera, executing a first focusing step to enable the optical axis on the camera to be intersected with the laser beam on the laser measurer on the starting point of the target to be measured, and acquiring a first distance from the starting point of the target to be measured to the laser beam emission point on the laser measurer;
establishing a first coordinate system of a three-dimensional space by taking a laser beam of a laser measurer as a Z coordinate axis, and obtaining a first coordinate value of the starting point of the target to be measured in the first coordinate system according to the first distance;
in this embodiment, the laser spot of the laser measuring device is positioned to the starting point P of the target to be measured by the video image center of the camera, and the laser measuring device is taken as the origin OwWith laser beam as ZwAxis, establishing a first coordinate system X in three-dimensional spacewYwZwObtaining the distance from the starting point to the laser measurer by the laser measurer
Length Z of1wObtaining the starting point P in the first coordinate system XwYwZwThe coordinates of (0, 0, Z) are1w) Assuming that the end point Q of the target to be measured is in the first coordinate system XwYwZwThe coordinates of2w，Y2w，Z2w)。
When the end point of the target to be measured is located at the center point of the optical axis of the camera, executing a second focusing step to enable the optical axis on the camera and the laser beam on the laser measurer to be intersected at the end point of the target to be measured, and acquiring a second distance from the end point of the target to be measured to the laser beam emitting point on the laser measurer;
establishing a second coordinate system of the three-dimensional space by taking a laser beam of the laser measurer as a Z coordinate axis, and obtaining a second coordinate value of the termination point of the target to be measured in the second coordinate system according to the second distance;
in this embodiment, the starting point of the target to be measured is used as the reference point, the laser beam reaches the end point Q of the target to be measured after rotating by the vertical angle α and the horizontal angle β, and the laser measurer is also used as the origin Ow', with laser beam as ZwAxis establishing a second coordinate system X in three dimensionsw′Yw′Zw' obtaining the distance from the end point to the laser measuring device by means of the laser measuring device
Length Z ofrwObtaining the end point Q in the second coordinate system Xw′Yw′ZwThe coordinates below are (0, 0, Z)rw)。
Converting a second coordinate value of the termination point of the target to be detected in the second coordinate system into a third coordinate value in the first coordinate system according to the conversion relation between the first coordinate system and the second coordinate system; or converting a first coordinate value of the starting point of the target to be detected in the first coordinate system into a third coordinate value in the second coordinate system according to the conversion relation between the first coordinate system and the second coordinate system;
in the present embodiment, from the first coordinate system XwYwZwTo a second coordinate system Xw′Yw′Zw', the origin of coordinates not moving (i.e. O)wAnd Ow'coincident') only about the X-axis and about the y-axis, so that the spatial point Q is in the coordinate system XwYwZwAnd the coordinate system Xw′Yw′ZwThe transformation between' satisfies the following relationship:
wherein R (x, alpha) is OwXwExpressed in the form of a transformation matrix with an axis rotation of a degree, R (y, beta) being about OwYwAnd (4) expressing the axis rotation by beta degrees in a transformation matrix form. Due to alpha, beta and ZrwFor a known quantity, the spatial point Q can be calculated in the first coordinate system XwYwZwCoordinate of lower (X)2w，Y2w，Z2w)；
And calculating to obtain the distance between the starting point and the ending point of the target to be measured according to the first coordinate value and the third coordinate value in the first coordinate system. Or calculating the distance between the starting point and the ending point of the target to be measured according to the second coordinate value and the third coordinate value in the second coordinate system.
In the present embodiment, the distance L between the two points in space can be calculated P, Q according to the formula;
further, the method also comprises the following steps:
receiving an operation instruction, and executing corresponding operation; the operation instructions comprise focusing instructions and measuring instructions.
The invention also provides a measuring system based on coordinate transformation, which comprises a focusing module; the focusing module comprises a first acquisition unit, a first calculation unit and an adjustment unit;
the first acquisition unit is used for acquiring a distance measurement distance of the object to be measured on the laser beam of the laser measurer and a first distance from an optical axis center point on the camera to a laser beam emission point on the laser measurer if the optical axis of the camera and the laser beam of the laser measurer are coplanar and non-coaxial, wherein a connecting line of the optical axis center point on the camera and the laser beam emission point on the laser measurer is vertical to the laser beam of the laser measurer;
the first calculating unit is used for substituting the ranging distance and the first distance into an arc tangent function to calculate an angle degree;
and the adjusting unit is used for adjusting the rotation angle of the camera according to the angle number so that the optical axis on the camera is intersected with the laser beam on the laser measurer on the object to be measured.
According to the coordinate transformation-based measurement system, the geometric angle relation among the optical axis of the camera, the laser beam of the laser measurer and the first distance between the optical axis center of the camera and the laser beam of the laser measurer is established, the included angle degree formed by the optical axis of the camera and the laser beam of the laser measurer when the optical axis of the camera and the laser beam of the laser measurer are positioned on a target to be measured in an intersecting mode is obtained through calculation, the rotation angle of the camera is adjusted according to the included angle degree, accurate focusing is achieved, the laser spot of the laser measurer is always positioned at the center of a video picture of the camera under different measuring ranges, the target measurement position is locked through the center of the video picture under the condition that the laser spot cannot be seen clearly, measurement is further completed, and the problem that the laser drop point position cannot be determined due to strong light.
Further, the device also comprises a measuring module; the measurement module comprises a second acquisition unit, a first establishment unit, a third acquisition unit, a second establishment unit, a conversion unit and a second calculation unit;
the second obtaining unit is used for executing a first focusing step when the starting point of the target to be measured is positioned at the central point of the optical axis of the camera, so that the optical axis on the camera is intersected with the laser beam on the laser measurer on the starting point of the target to be measured, and a first distance from the starting point of the target to be measured to the laser beam emitting point on the laser measurer is obtained;
the first establishing unit is used for establishing a first coordinate system of a three-dimensional space by taking a laser beam of the laser measurer as a Z coordinate axis, and obtaining a first coordinate value of the starting point of the target to be measured in the first coordinate system according to the first distance;
the third obtaining unit is used for executing a second focusing step when the end point of the target to be measured is located at the center point of the optical axis of the camera, so that the optical axis of the camera is intersected with the laser beam on the laser measurer at the end point of the target to be measured, and a second distance from the end point of the target to be measured to the laser beam emitting point on the laser measurer is obtained;
the second establishing unit is used for establishing a second coordinate system of the three-dimensional space by taking the laser beam of the laser measurer as a Z coordinate axis and obtaining a second coordinate value of the termination point of the target to be measured in the second coordinate system according to the second distance;
the conversion unit is used for converting a second coordinate value of the termination point of the target to be detected in the second coordinate system into a third coordinate value in the first coordinate system according to the conversion relation between the first coordinate system and the second coordinate system;
and the second calculating unit is used for calculating the distance between the starting point and the ending point of the target to be measured according to the first coordinate value and the third coordinate value in the first coordinate system.
Further, the device also comprises a measuring module; the measurement module comprises a second acquisition unit, a first establishment unit, a third acquisition unit, a second establishment unit, a conversion unit and a second calculation unit;
the second obtaining unit is used for executing a first focusing step when the starting point of the target to be measured is positioned at the central point of the optical axis of the camera, so that the optical axis on the camera is intersected with the laser beam on the laser measurer on the starting point of the target to be measured, and a first distance from the starting point of the target to be measured to the laser beam emitting point on the laser measurer is obtained;
the first establishing unit is used for establishing a first coordinate system of a three-dimensional space by taking a laser beam of the laser measurer as a Z coordinate axis, and obtaining a first coordinate value of the starting point of the target to be measured in the first coordinate system according to the first distance;
the third obtaining unit is used for executing a second focusing step when the end point of the target to be measured is located at the center point of the optical axis of the camera, so that the optical axis of the camera is intersected with the laser beam on the laser measurer at the end point of the target to be measured, and a second distance from the end point of the target to be measured to the laser beam emitting point on the laser measurer is obtained;
the second establishing unit is used for establishing a second coordinate system of the three-dimensional space by taking the laser beam of the laser measurer as a Z coordinate axis and obtaining a second coordinate value of the termination point of the target to be measured in the second coordinate system according to the second distance;
the conversion unit is used for converting a first coordinate value of the starting point of the target to be measured in the first coordinate system into a third coordinate value in the second coordinate system according to the conversion relation between the first coordinate system and the second coordinate system;
and the second calculating unit is used for calculating the distance between the starting point and the ending point of the target to be measured according to the second coordinate value and the third coordinate value in the second coordinate system.
The system further comprises a receiving module, a processing module and a processing module, wherein the receiving module is used for receiving the operation instruction and executing the corresponding operation; the operation instructions comprise focusing instructions and measuring instructions.
As shown in fig. 4, the present invention further provides a measuring apparatus based on coordinate transformation, which includes a measuring end; the measuring end comprises a laser measurer 1, a camera 2 and an angle adjuster 3; the connecting line of the optical axis center point on the camera and the laser beam emitting point on the laser measurer is vertical to the laser beam of the laser measurer; the angle adjuster is connected with the camera and used for adjusting the angle of the camera so that the optical axis on the camera is intersected with the laser beam on the laser measurer on the object to be measured. The camera collects images of a target to be detected and laser spots in real time, and the size of the collected images is adjusted by zooming the video pictures through focusing.
The angle adjuster is connected with the camera and used for adjusting the angle of the camera, and the optical axis of the camera and the laser beam of the laser measurer form different geometric angle relations under different ranges, so that the laser spot on the target falls on the optical axis of the camera. The laser measurer measures the distance L from a laser spot on a target to the laser measurer, the physical distance between the camera and the laser measurer is H, and the angle adjuster only needs to adjust the angle arctan (H/L) between the optical axis of the camera and the laser beam of the laser measurer, so that the laser spot on the target can fall on the optical axis of the camera. After the calibration is completed, the remote measurement position is locked through the center of the video picture, and the center of the video picture displays the visual aiming target to assist in locking the remote measurement position.
Furthermore, the measuring end also comprises a processor, a holder and an angle sensor arranged on the holder; the camera, the laser measurer and the angle adjuster are arranged on the holder; the processor is respectively connected with the laser measurer, the camera, the holder, the angle adjuster and the angle sensor through a communication bus or a signal line;
in this embodiment, the cloud platform drives laser measurement ware and camera and rotates, detects cloud platform pivoted angle by angle sensor. The processor is respectively connected with the laser measurer, the camera, the holder, the angle adjuster and the angle sensor through a communication bus or a signal line. The processor controls the connecting devices, for example, controls the pan-tilt to rotate, acquires the pan-tilt rotation angle detected by the angle sensor, controls the camera to perform image zooming, controls the angle adjuster to adjust the angle of the camera, and controls the laser measurer to perform measurement operation.
The measuring device based on coordinate transformation also comprises a server and at least more than one terminal; and the server is respectively connected with the measuring terminal and the terminal through a network.
In a specific embodiment, the device further comprises a server and a terminal. The server is respectively connected with the measuring end and the terminal through a network. The service end provides a communication interface between the measuring end and the terminal, and the service end receives/transmits electric signals to/from the measuring end or the terminal. The terminal displays visual output to the user including video pictures, textual information of the measurement process/result, graphical information, and any combination thereof. The terminal receives the control input of the user, sends a control signal to the measuring terminal and executes target measurement.
In summary, according to the measurement method, system and device based on coordinate transformation provided by the present invention, the geometric angle relationship between the optical axis of the camera, the laser beam of the laser measurer and the first distance between the optical axis center of the camera and the laser beam of the laser measurer is established, the degree of the included angle formed by the optical axis of the camera and the laser beam of the laser measurer when the optical axis of the camera and the laser beam of the laser measurer intersect on the target to be measured is calculated, and the rotation angle of the camera is adjusted according to the degree of the included angle, so as to achieve accurate focusing.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.
Claims (6)
1. A rapid measurement method based on coordinate transformation is characterized by comprising the following focusing steps:
if the optical axis of the camera and the laser beam of the laser measurer are coplanar and non-coaxial, acquiring a distance measuring distance of the object to be measured on the laser beam of the laser measurer and a first distance from an optical axis center point on the camera to a laser beam emitting point on the laser measurer, wherein a connecting line of the optical axis center point on the camera and the laser beam emitting point on the laser measurer is perpendicular to the laser beam of the laser measurer;
substituting the ranging distance and the first distance into an arc tangent function to calculate an angle number;
adjusting the rotation angle of the camera according to the angle number to enable the optical axis on the camera to be intersected with the laser beam on the laser measurer on the object to be measured;
the coordinate transformation-based rapid measurement method further comprises the following measurement steps:
the measuring end executes a first focusing step, so that an optical axis on the camera is intersected with a laser beam on the laser measurer on the starting point of the target to be measured, and a first distance from the starting point of the target to be measured to a laser beam emitting point on the laser measurer is obtained;
establishing a first coordinate system of a three-dimensional space by taking a laser beam of a laser measurer as a coordinate axis, and obtaining a first coordinate value of the starting point of the target to be measured in the first coordinate system according to the first distance;
the measuring end executes a second focusing step to enable the optical axis on the camera and the laser beam on the laser measurer to be intersected at the end point of the target to be measured, and a second distance from the end point of the target to be measured to the laser beam emitting point on the laser measurer is obtained;
establishing a second coordinate system of the three-dimensional space by taking the laser beam of the laser measurer as a coordinate axis, and obtaining a second coordinate value of the termination point of the target to be measured in the second coordinate system according to the second distance;
converting a second coordinate value of the termination point of the target to be detected in the second coordinate system into a third coordinate value in the first coordinate system according to the conversion relation between the first coordinate system and the second coordinate system;
calculating to obtain the distance between the starting point and the ending point of the target to be measured according to the first coordinate value and the third coordinate value in the first coordinate system;
or, the method also comprises the following measuring steps:
the measuring end executes a first focusing step, so that an optical axis on the camera is intersected with a laser beam on the laser measurer on the starting point of the target to be measured, and a first distance from the starting point of the target to be measured to a laser beam emitting point on the laser measurer is obtained;
establishing a first coordinate system of a three-dimensional space by taking a laser beam of a laser measurer as a coordinate axis, and obtaining a first coordinate value of the starting point of the target to be measured in the first coordinate system according to the first distance;
the measuring end executes a second focusing step to enable the optical axis on the camera and the laser beam on the laser measurer to be intersected at the end point of the target to be measured, and a second distance from the end point of the target to be measured to the laser beam emitting point on the laser measurer is obtained;
establishing a second coordinate system of the three-dimensional space by taking the laser beam of the laser measurer as a coordinate axis, and obtaining a second coordinate value of the termination point of the target to be measured in the second coordinate system according to the second distance;
converting a first coordinate value of the starting point of the target to be detected in the first coordinate system into a third coordinate value in the second coordinate system according to the conversion relation between the first coordinate system and the second coordinate system;
calculating to obtain the distance between the starting point and the ending point of the target to be measured according to the second coordinate value and the third coordinate value in the second coordinate system;
and the measuring end sends the calculated distance between the starting point and the ending point of the target to be measured to the terminal so as to display visual output to a user, wherein the visual output content of the terminal comprises video pictures, text information and graphic information of the measuring process/result and any combination of the text information and the graphic information.
2. The coordinate transformation-based rapid measurement method according to claim 1, further comprising:
receiving an operation instruction, and executing corresponding operation; the operation instructions comprise focusing instructions and measuring instructions.
3. A rapid measurement system based on coordinate transformation is characterized by comprising a focusing module; the focusing module comprises a first acquisition unit, a first calculation unit and an adjustment unit;
the first acquisition unit is used for acquiring a distance measurement distance of the object to be measured on the laser beam of the laser measurer and a first distance from an optical axis center point on the camera to a laser beam emission point on the laser measurer if the optical axis of the camera and the laser beam of the laser measurer are coplanar and non-coaxial, wherein a connecting line of the optical axis center point on the camera and the laser beam emission point on the laser measurer is vertical to the laser beam of the laser measurer;
the first calculating unit is used for substituting the ranging distance and the first distance into an arc tangent function to calculate an angle degree;
the adjusting unit is used for adjusting the rotation angle of the camera according to the angle number so that the optical axis on the camera is intersected with the laser beam on the laser measurer on the object to be measured;
the coordinate transformation-based rapid measurement system also comprises a measurement module; the measurement module comprises a second acquisition unit, a first establishment unit, a third acquisition unit, a second establishment unit, a conversion unit and a second calculation unit;
the second obtaining unit is used for the measuring end to execute a first focusing step, so that an optical axis on the camera is intersected with a laser beam on the laser measurer on the starting point of the target to be measured, and a first distance from the starting point of the target to be measured to a laser beam emitting point on the laser measurer is obtained;
the first establishing unit is used for establishing a first coordinate system of the three-dimensional space by taking a laser beam of the laser measurer as a coordinate axis, and obtaining a first coordinate value of the starting point of the target to be measured in the first coordinate system according to the first distance;
the third obtaining unit is used for the measuring end to execute a second focusing step, so that the optical axis on the camera and the laser beam on the laser measurer intersect at the end point of the target to be measured, and a second distance from the end point of the target to be measured to the laser beam emitting point on the laser measurer is obtained;
the second establishing unit is used for establishing a second coordinate system of the three-dimensional space by taking the laser beam of the laser measurer as a coordinate axis, and obtaining a second coordinate value of the termination point of the target to be measured in the second coordinate system according to the second distance;
the conversion unit is used for converting a second coordinate value of the termination point of the target to be detected in the second coordinate system into a third coordinate value in the first coordinate system according to the conversion relation between the first coordinate system and the second coordinate system;
the second calculation unit is used for calculating the distance between the starting point and the ending point of the target to be measured according to the first coordinate value and the third coordinate value in the first coordinate system;
or, further comprising a measurement module; the measurement module comprises a second acquisition unit, a first establishment unit, a third acquisition unit, a second establishment unit, a conversion unit and a second calculation unit;
the second obtaining unit is used for the measuring end to execute a first focusing step, so that an optical axis on the camera is intersected with a laser beam on the laser measurer on the starting point of the target to be measured, and a first distance from the starting point of the target to be measured to a laser beam emitting point on the laser measurer is obtained;
the first establishing unit is used for establishing a first coordinate system of the three-dimensional space by taking a laser beam of the laser measurer as a coordinate axis, and obtaining a first coordinate value of the starting point of the target to be measured in the first coordinate system according to the first distance;
the third obtaining unit is used for the measuring end to execute a second focusing step, so that the optical axis on the camera and the laser beam on the laser measurer intersect at the end point of the target to be measured, and a second distance from the end point of the target to be measured to the laser beam emitting point on the laser measurer is obtained;
the second establishing unit is used for establishing a second coordinate system of the three-dimensional space by taking the laser beam of the laser measurer as a coordinate axis, and obtaining a second coordinate value of the termination point of the target to be measured in the second coordinate system according to the second distance;
the conversion unit is used for converting a first coordinate value of the starting point of the target to be measured in the first coordinate system into a third coordinate value in the second coordinate system according to the conversion relation between the first coordinate system and the second coordinate system;
the second calculation unit is used for calculating the distance between the starting point and the ending point of the target to be measured according to a second coordinate value and a third coordinate value in a second coordinate system;
and the measuring end sends the calculated distance between the starting point and the ending point of the target to be measured to the terminal so as to display visual output to a user, wherein the visual output content of the terminal comprises video pictures, text information and graphic information of the measuring process/result and any combination of the text information and the graphic information.
4. The coordinate transformation-based rapid measurement system according to claim 3, further comprising a receiving module for receiving an operation instruction and executing a corresponding operation; the operation instructions comprise focusing instructions and measuring instructions.
5. A rapid measuring device based on coordinate transformation is characterized by comprising a measuring end; the measuring end comprises a laser measurer, a camera and an angle adjuster; the connecting line of the optical axis center point on the camera and the laser beam emitting point on the laser measurer is vertical to the laser beam of the laser measurer; the angle adjuster is connected with the camera and is used for adjusting the angle of the camera so that the optical axis on the camera is intersected with the laser beam on the laser measurer on the object to be measured;
the measuring end also comprises a processor, a holder and an angle sensor arranged on the holder; the camera, the laser measurer and the angle adjuster are arranged on the holder; the processor is respectively connected with the laser measurer, the camera, the holder, the angle adjuster and the angle sensor through a communication bus or a signal line;
the processor is used for executing a first focusing step, so that an optical axis on the camera is intersected with a laser beam on the laser measurer on the starting point of the target to be measured, and a first distance from the starting point of the target to be measured to a laser beam emitting point on the laser measurer is obtained; establishing a first coordinate system of a three-dimensional space by taking a laser beam of a laser measurer as a coordinate axis, and obtaining a first coordinate value of the starting point of the target to be measured in the first coordinate system according to the first distance;
executing a second focusing step to enable the optical axis on the camera and the laser beam on the laser measurer to be intersected at the end point of the target to be measured, and acquiring a second distance from the end point of the target to be measured to the laser beam emission point on the laser measurer;
establishing a second coordinate system of the three-dimensional space by taking the laser beam of the laser measurer as a coordinate axis, and obtaining a second coordinate value of the termination point of the target to be measured in the second coordinate system according to the second distance;
converting a second coordinate value of the termination point of the target to be detected in the second coordinate system into a third coordinate value in the first coordinate system according to the conversion relation between the first coordinate system and the second coordinate system;
calculating to obtain the distance between the starting point and the ending point of the target to be measured according to the first coordinate value and the third coordinate value in the first coordinate system;
or, executing a first focusing step to enable the optical axis on the camera and the laser beam on the laser measurer to intersect at the starting point of the target to be measured, and acquiring a first distance from the starting point of the target to be measured to the laser beam emission point on the laser measurer;
establishing a first coordinate system of a three-dimensional space by taking a laser beam of a laser measurer as a coordinate axis, and obtaining a first coordinate value of the starting point of the target to be measured in the first coordinate system according to the first distance;
executing a second focusing step to enable the optical axis on the camera and the laser beam on the laser measurer to be intersected at the end point of the target to be measured, and acquiring a second distance from the end point of the target to be measured to the laser beam emission point on the laser measurer;
establishing a second coordinate system of the three-dimensional space by taking the laser beam of the laser measurer as a coordinate axis, and obtaining a second coordinate value of the termination point of the target to be measured in the second coordinate system according to the second distance;
converting a first coordinate value of the starting point of the target to be detected in the first coordinate system into a third coordinate value in the second coordinate system according to the conversion relation between the first coordinate system and the second coordinate system;
calculating to obtain the distance between the starting point and the ending point of the target to be measured according to the second coordinate value and the third coordinate value in the second coordinate system;
the measuring end sends the distance between the starting point and the ending point of the target to be measured obtained by calculation to a terminal for displaying visual output to a user, wherein the visual output content of the terminal comprises video pictures, text information and graphic information of the measuring process/result and any combination of the text information and the graphic information;
wherein the focusing step comprises:
if the optical axis of the camera and the laser beam of the laser measurer are coplanar and non-coaxial, acquiring a distance measuring distance of the object to be measured on the laser beam of the laser measurer and a first distance from an optical axis center point on the camera to a laser beam emitting point on the laser measurer, wherein a connecting line of the optical axis center point on the camera and the laser beam emitting point on the laser measurer is perpendicular to the laser beam of the laser measurer;
substituting the ranging distance and the first distance into an arc tangent function to calculate an angle number;
and adjusting the rotation angle of the camera according to the angle number to enable the optical axis on the camera to be intersected with the laser beam on the laser measurer on the object to be measured.
6. The coordinate transformation-based rapid measurement device according to claim 5, further comprising a server and at least one terminal; and the server is respectively connected with the measuring terminal and the terminal through a network.
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| CN108827260A (en) | 2018-11-16 |
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| CN109029391A (en) | 2018-12-18 |
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| CN108709542A (en) | 2018-10-26 |
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| CN107101623B (en) | 2018-07-27 |
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