CN119354076B - Method and system for measuring road core sample size based on line laser scanning - Google Patents
Method and system for measuring road core sample size based on line laser scanning Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
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- G06T17/20—Finite element generation, e.g. wire-frame surface description, tesselation
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
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Abstract
The invention discloses a method and a system for measuring the size of a road core sample based on line laser scanning, comprising the following steps of S1, setting the rotating speed of a rotating platform of a laser generator, S2, determining the coordinate relation between coordinate systems of a line laser scanning system based on a direct laser triangulation method, calculating an internal reference matrix A and an external reference matrix [ R, t ] of a camera, S3, acquiring images with time stamps, grouping the images according to the time stamps, S4, converting two images in each group of images into two-dimensional images for splicing, and determining the standard diameter and the height of the core sample to be measured according to the physical coordinate point of each group of spliced images, S5, reconstructing a curved surface of each group of spliced images, and obtaining the diameter of each level of the core sample to be measured according to the curved surface reconstruction and the standard diameter of the core sample to be measured.
Description
Technical Field
The invention relates to the field of measurement, in particular to a method and a system for measuring the size of a road core sample based on line laser scanning.
Background
In the current daily detection process, the coring method is used for measuring the thickness of the road structural layer, and the structural layer is taken out of a cylindrical core sample by a coring machine and then the diameter and the height of the structural layer are manually measured by using a steel tape.
Because the road core sample is special in material, the sampling side surface of the road core sample is greatly different from the ideal cylindrical side surface, most of the sampling side surface is irregularly broken, and the road core sample is obviously layered in multiple layers due to the fact that the road is built in multiple layers. Under the condition that only a tape measure is used, the size of each level division and the diameter of each level of the road core sample are subjectively judged by a detector, and the objective fact is determined by larger subjectivity, so that larger errors are easy to exist, and the subsequent quality, durability, compressive strength and the like are not facilitated.
As proposed in published patent application document (CN 114812413 a), a method for measuring the diameter of a standard cylinder and a measuring system are proposed, and the diameter of the measured cylinder is obtained by scanning an axis on a rotating platform through the bottom surface, and then calculating, the main method is to establish a polar coordinate system with the rotation center of the rotating platform as the origin, calculate the diameter of the regular cylinder by combining collecting a plurality of diameter points and calibrating distances from a camera to the rotation center, and lack the calculation of the diameter of each level of the irregular cylinder.
Disclosure of Invention
The invention aims to at least solve one of the technical problems in the prior art, and therefore, the invention provides a method and a system for measuring the size of a road core sample based on line laser scanning, which are used for solving the technical problem that the prior art lacks of diameter calculation of each level of an irregular cylinder.
To achieve the above object, the present invention provides a method for measuring a road core sample size based on line laser scanning, comprising the steps of:
s1, setting the rotating speed of a rotating platform of a laser generator as a divisor of the shooting frequency of a camera;
S2, determining a coordinate relation between coordinate systems of a line laser scanning system based on a direct laser triangulation method, and calculating an internal reference matrix A and an external reference matrix [ R, t ] of a camera to ensure that the camera accurately captures the projection position of a laser line on the surface of a core sample to be detected;
S3, acquiring images with time stamps and grouping the images according to the time stamps, wherein each group of images contains two images;
s4, converting two images in each group of images into two-dimensional images for splicing, and determining the standard diameter and the standard height of the core sample to be detected according to the physical coordinate points of the images after each group of splicing;
s5, carrying out curved surface reconstruction on each group of spliced images based on the Voronoi Thiessen polygon two-dimensional scatter diagram and a greedy projection algorithm, and acquiring the diameters of all levels of the core sample to be detected according to the curved surface reconstruction and the standard diameter of the core sample to be detected;
In S1, the rotation speed of the rotary platform is a divisor of the shooting frequency of the camera, and the rotation speed of the rotary platform and the shooting frequency of the camera are adjusted to enable the multiple relation between the rotation speed of the rotary platform and the shooting frequency of the camera, so that efficient and accurate image capturing is achieved.
The specific method of the S2 is as follows:
establishing a pixel coordinate system in pixel units (U, v, 1), a camera coordinate system with a camera lens as an origin(Xc, yc, zc) and a world coordinate System established describing the actual position of the camera in three-dimensional space( Xw ,Yw ,Zw );
Based on the coordinate system transformation and the camera projection model principle, a camera internal reference matrix A and an external reference matrix [ R, t ] are obtained;
the coordinate system transformation comprises world coordinate system and camera coordinate system transformation, pixel coordinate system and physical coordinate system transformation;
the conversion relation between the camera coordinate system and the world coordinate system is shown as the following formula:
;
Wherein, Is a rotation matrix between a camera coordinate system and a world coordinate system, and has the size of;
Is a translation vector between the camera coordinate system and the world coordinate system;
0 is one All zero matrices of (a);
1 is one Is a full matrix of (a);
The conversion relationship between the pixel coordinate system and the physical coordinate system can be expressed as:
;
Wherein dx and dy are the physical lengths of a single pixel in the x-axis and y-axis directions, respectively;
coordinates of any point on an imaging plane under a pixel coordinate system;
Is the coordinate of the origin of the physical coordinate system in the pixel coordinate system;
corresponding coordinates on a physical coordinate system for coordinates of any point on an imaging plane under a pixel coordinate system;
and then establishing a coordinate relation according to the principle of the camera projection model as follows:
;
obtaining a camera internal reference matrix A and an external reference matrix [ R, t ];
the world coordinate system and the camera coordinate system are coordinate systems in a three-dimensional space, and the two coordinate systems can be mutually converted through rigid transformation, namely, the camera coordinate system and the world coordinate system can be mutually converted through translation and rotation;
the pixel coordinate system takes the initial position of the pixel as the origin, takes the pixel direction as the coordinate direction, sets the pixel row direction u axis and the pixel column direction as the v axis, namely, the coordinates of any point on the imaging plane under the pixel coordinate system can be written as (u, v). The physical coordinate system takes the intersection point of the main axis of the camera lens and the imaging plane as an origin, the coordinate axis direction is parallel to the direction of the pixel coordinate system, namely the x-axis direction is consistent with the u-axis direction, the y-axis direction is consistent with the v-axis direction, the coordinates of the origin of the physical coordinate system in the pixel coordinate system are set as (u 0, v 0), and the physical lengths of single pixels in the x-axis direction and the y-axis direction are dx and dy respectively.
Further, the specific method of the S3 is as follows:
placing the core sample to be tested on a laser generator rotating platform, and collecting the core sample with a time stamp by a camera And grouping the images of (a) by the time stamp asAndIs a group of images;
Wherein, 、;
All time stamps corresponding to the images acquired by the camera are rotated for one circle by the laser generator rotating platform;
n is the shooting times of the camera and is divided into A group;
Thus, each group of images can be ensured to be a complete image of one revolution of the core sample to be tested.
Further, the specific method of S4 is as follows:
Two images in each group of images are converted into two-dimensional images for splicing, and pixel coordinates in the spliced two-dimensional images are converted into physical coordinates Wherein k is the k-th group of images,,I is the ith row of a row-column structure formed by physical coordinate points in each spliced two-dimensional graph, j is the jth column of a row-column structure formed by physical coordinate points in each spliced two-dimensional graph;
Traversing each row and each column of a row-column structure formed by physical coordinate points in each group of images to obtain the maximum value of the row length of each group of images And maximum value of column lengthEstablishing a line length number groupSum column length arrayAnd respectively carrying out normal distribution processing on all data in the row length array and the column length array, and giving weight, and respectively determining the standard diameter and the standard height of the core sample to be measured based on a weighted average mode, wherein the standard diameter and the standard height are shown in the following formula:
;
;
wherein R is the standard diameter of the core sample to be measured, and H is the height of the core sample to be measured;
a weight that is the maximum value of the image line length of the kth group;
Pi is the circumference ratio;
a weight that is the maximum value of the image column length of the kth group;
The method aims at directly converting the collected side surfaces of a plurality of core samples to be measured into a two-dimensional image form, wherein the representation of the side surfaces on the horizontal axis is the circumference of a cylinder, the representation of the side surfaces on the vertical axis is the height of the cylinder, and the standard diameter and the height of the core samples to be measured are calculated in a weighted average mode.
The specific method for carrying out normal distribution treatment and giving weight comprises the following steps:
processing row length arrays separately Sum column length arrayCalculating the mean value and standard deviation of the row length array and the mean value and standard deviation of the column length array;
Wherein the line length number is set Is positioned atThe data of (2) is weighted 0.4 and is locatedAndThe data of (2) is weighted 0.3 and is locatedAndThe data of (2) is given a weight of 0.2, and the rest of the data is given a weight of 0.1;
array of column lengths Is positioned atThe data of (2) is weighted 0.4 and is locatedAndThe data of (2) is weighted 0.3 and is locatedAndThe data of (2) was given a weight of 0.2, and the remaining data was given a weight of 0.1.
Further, the specific method of S5 is as follows:
respectively for each physical coordinate in each group of spliced images in S4 The standardization process, unifies the number of lines i and the number of columns j of physical coordinate points to ensure that the coordinate points in each spliced image are the same, wherein k is the k group of images,,I is the ith row of a row-column structure formed by physical coordinate points in each spliced two-dimensional graph,J is the j-th column of the row-column structure formed by physical coordinate points in each spliced two-dimensional graph,;
Based on triangulation principle, each physical coordinate in each group of spliced imagesThe connecting lines form triangle combinations which are not overlapped with each other, namely, a dual graph of the Voronoi Thiessen polygon two-dimensional scatter diagram;
Mapping each point and adjacent points thereof in the dual graph to a tangent plane of the point, triangulating all coordinate points contained in the two-dimensional plane in a unidirectional growth mode on the two-dimensional plane, and finally determining association of projection points in a three-dimensional space directly according to the mapping relation and the topological relation, thereby generating a space triangulating net to obtain a curved surface model;
curved surface tangent point according to curved surface model The diameter of each level of the core sample to be measured, namely the diameters corresponding to different heights of the core sample to be measured, is determined according to the Y-axis coordinate, the Z-axis coordinate and the standard diameter of the core sample to be measured in the space coordinate system;
the Y-axis coordinate is actually the Y-coordinate value of the side expansion diagram of the core sample to be measured, and after unidirectional growth, the Z coordinates of all points corresponding to the same Y-coordinate are the concave and convex of all points contained in the level of the core sample to be measured.
The specific method for determining the diameter of each level of the core sample to be measured is as follows:
The layers of the core sample to be measured are divided into i layers;
The diameter corresponding to each level is the standard diameter of the core sample to be measured plus the following formula:
;
wherein R is the standard diameter of the core sample to be measured;
And accumulating the growth heights of all points on a certain i level, and calculating the approximate growth height by using a complete average mode to be the growth height on the standard diameter, namely the true diameter of the i level.
The invention also provides a system for measuring the size of the road core sample based on line laser scanning, which comprises a laser generator rotating platform;
the laser generator rotating platform is electrically connected with PC equipment;
The PC device comprises a memory, a processor and a program stored in the memory and capable of running on the processor;
The PC equipment is also electrically connected with at least one camera;
The processor, when executing the program, implements the method for measuring the road core sample size based on line laser scanning according to any one of the above.
The invention has the following effects:
the method does not need to measure various parameters of the camera, such as an installation angle and an installation distance in advance, and adopts a laser triangulation method to directly determine the coordinate relation among the coordinate systems.
And converting the core sample to be measured into a two-dimensional graph, directly solving the height of the core sample, and carrying out curved surface reconstruction on the two-dimensional image by combining the Voronoi Thiessen polygon two-dimensional scatter diagram and a greedy projection algorithm, so as to calculate the diameters corresponding to the core sample to be measured at different heights.
Drawings
In order to more clearly illustrate the embodiments of the present invention and the technical solutions in the prior art, the following description will briefly describe the embodiments and the drawings required to be used in the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a system flow diagram of the present invention;
FIG. 2 is a schematic view of a camera of the present invention observing a core sample to be measured;
FIG. 3 is a schematic diagram of the system of the present invention.
Detailed Description
The present application will be described and illustrated with reference to the accompanying drawings and examples in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application. All other embodiments, which can be made by a person of ordinary skill in the art based on the embodiments provided by the present application without making any inventive effort, are intended to fall within the scope of the present application.
It is apparent that the drawings in the following description are only some examples or embodiments of the present application, and it is possible for those of ordinary skill in the art to apply the present application to other similar situations according to these drawings without inventive effort.
Moreover, it should be appreciated that while such a development effort might be complex and lengthy, it would nevertheless be a routine undertaking of design, fabrication, or manufacture for those of ordinary skill having the benefit of this disclosure, and thus should not be construed as having the benefit of this disclosure.
All embodiments of the application and alternative embodiments may be combined with each other to form new solutions, unless otherwise specified.
Referring to fig. 1, the system flow chart of the present invention includes the following steps:
s1, setting the rotating speed of a rotating platform of a laser generator as a divisor of the shooting frequency of a camera;
S2, based on a direct laser triangulation method, defining a coordinate relation between coordinate systems of a line laser scanning system, calculating an internal reference matrix A and an external reference matrix [ R, t ] of a camera, ensuring that the camera accurately captures the projection position of a laser line on the surface of a core sample to be detected, wherein the capturing condition is shown in FIG. 2, and the axis B is an electrode line projected to the side surface of the core sample to be detected by a laser generator and can be received by the camera;
S3, acquiring images with time stamps and grouping the images according to the time stamps, wherein each group of images contains two images;
s4, converting two images in each group of images into two-dimensional images for splicing, and determining the standard diameter and the standard height of the core sample to be detected according to the physical coordinate points of the images after each group of splicing;
And S5, carrying out curved surface reconstruction on each group of spliced images based on the Voronoi Thiessen polygon two-dimensional scatter diagram and a greedy projection algorithm, and obtaining the diameters of all levels of the core sample to be detected according to the curved surface reconstruction and the standard diameter of the core sample to be detected.
Specifically:
In S1, in order to ensure the imaging quality, the rotation speed of the rotary platform is controlled to be a divisor of the shooting frequency of the camera, and the rotation speed of the rotary platform and the shooting frequency of the camera are adjusted to enable the multiple relation between the rotation speed of the rotary platform and the shooting frequency of the camera, so that efficient and accurate image capturing is achieved.
S2, if contour information on the measured object is required to be obtained, the transformation relation between different coordinate systems and the coordinate systems must be clarified;
First, a pixel coordinate system is established in units of pixels (U, v, 1), a camera coordinate system with a camera lens as an origin(Xc, yc, zc) and a world coordinate System established describing the actual position of the camera in three-dimensional space( Xw ,Yw ,Zw );
Based on the coordinate system transformation and the camera projection model principle, a camera internal reference matrix A and an external reference matrix [ R, t ] are obtained;
The coordinate system transformation comprises world coordinate system transformation, camera coordinate system transformation, pixel coordinate system transformation and physical coordinate system transformation;
The world coordinate system and the camera coordinate system are coordinate systems in a three-dimensional space, and the two coordinate systems can be mutually converted through rigid transformation, namely, the camera coordinate system and the world coordinate system can be converted through translation and rotation, and the conversion relation between the camera coordinate system and the world coordinate system is shown in the following formula:
;
Wherein, Is a rotation matrix between a camera coordinate system and a world coordinate system, and has the size of;
Is a translation vector between the camera coordinate system and the world coordinate system;
0 is one All zero matrices of (a);
1 is one Is a full matrix of (a);
M represents the total homogeneous transformation matrix between two coordinate systems;
the pixel coordinate system and the physical coordinate system transformation are based on an image coordinate system, wherein the image coordinate system is a coordinate system established on an imaging plane and comprises a pixel coordinate system taking a pixel as a unit and a physical coordinate system taking a physical length (unit is mm) as a unit, the pixel coordinate system takes a pixel starting position as an origin, takes a pixel direction as a coordinate direction, sets a pixel row direction u-axis and a pixel column direction as a v-axis, namely, any point coordinate on the imaging plane under the pixel coordinate system can be written as (u, v). The physical coordinate system takes the intersection point of the main axis of the camera lens and the imaging plane as an origin, the coordinate axis direction is parallel to the direction of the pixel coordinate system, namely the x-axis direction is consistent with the u-axis direction, the y-axis direction is consistent with the v-axis direction, the coordinates of the origin of the physical coordinate system in the pixel coordinate system are (u 0, v 0), the physical lengths of a single pixel in the x-axis direction and the y-axis direction are dx and dy respectively, and the conversion relation between the pixel coordinate system and the physical coordinate system can be expressed as follows:
;
Wherein dx and dy are the physical lengths of a single pixel in the x-axis and y-axis directions, respectively;
coordinates of any point on an imaging plane under a pixel coordinate system;
Is the coordinate of the origin of the physical coordinate system in the pixel coordinate system;
corresponding coordinates on a physical coordinate system for coordinates of any point on an imaging plane under a pixel coordinate system;
And then establishing a coordinate relation according to a camera projection model principle as follows:
;
thereby obtaining a camera reference matrix A and an external reference matrix [ R, t ].
S3, in order to obtain complete images of the side surfaces of the core samples to be tested, the core samples to be tested are placed on a laser generator rotating platform, and a camera is used for collecting the images with time stampsAnd grouping the images of (a) by the time stamp asAndIs a group of images;
Wherein, 、;
All time stamps corresponding to the images acquired by the camera are rotated for one circle by the laser generator rotating platform;
n is the shooting times of the camera and is divided into A group;
Thus, each group of images can be ensured to be a complete image of one revolution of the core sample to be tested.
S4, initially solving the standard diameter and the standard height of the core sample to be measured, converting two images in each group of images into two-dimensional images for splicing, and converting pixel coordinates in the spliced two-dimensional images into physical coordinatesWherein k is the k-th group of images,,I is the ith row of a row-column structure formed by physical coordinate points in each spliced two-dimensional graph, j is the jth column of a row-column structure formed by physical coordinate points in each spliced two-dimensional graph;
Traversing each row and each column of a row-column structure formed by physical coordinate points in each group of images to obtain the maximum value of the row length of each group of images And maximum value of column lengthEstablishing a line length number groupSum column length arrayAnd respectively carrying out normal distribution processing on all data in the row length array and the column length array, and giving weight, and respectively determining the standard diameter and the standard height of the core sample to be measured based on a weighted average mode, wherein the standard diameter and the standard height are shown in the following formula:
;
;
wherein R is the standard diameter of the core sample to be measured, and H is the height of the core sample to be measured;
a weight that is the maximum value of the image line length of the kth group;
Pi is the circumference ratio;
a weight that is the maximum value of the image column length of the kth group;
The specific method for normal distribution processing and weight assignment comprises the following steps:
processing row length arrays separately Sum column length arrayCalculating the mean value and standard deviation of the row length array and the mean value and standard deviation of the column length array;
Wherein the line length number is set Is positioned atThe data of (2) is weighted 0.4 and is locatedAndThe data of (2) is weighted 0.3 and is locatedAndThe data of (2) is given a weight of 0.2, and the rest of the data is given a weight of 0.1;
array of column lengths Is positioned atThe data of (2) is weighted 0.4 and is locatedAndThe data of (2) is weighted 0.3 and is locatedAndThe data of (2) was given a weight of 0.2, and the remaining data was given a weight of 0.1.
In S5, because the core sample to be measured is a cylinder with rugged side surface, in order to measure the true diameter of the core sample, the side surface of the core sample to be measured is two-dimensionally processed by the method of S4, and is divided into beta layers according to the coordinate of the beta layers on the Y axis, and the diameter of each layer is corrected respectively, wherein the method comprises the following steps:
respectively for each physical coordinate in each group of spliced images in S4 The standardization process, unifies the number of lines i and the number of columns j of physical coordinate points to ensure that the coordinate points in each spliced image are the same, wherein k is the k group of images,,I is the ith row of a row-column structure formed by physical coordinate points in each spliced two-dimensional graph,J is the j-th column of the row-column structure formed by physical coordinate points in each spliced two-dimensional graph,;
Based on triangulation principle, each physical coordinate in each group of spliced imagesThe connecting lines form triangle combinations which are not overlapped with each other, namely, a dual graph of the Voronoi Thiessen polygon two-dimensional scatter diagram;
Mapping each point and adjacent points thereof in the dual graph to a tangent plane of the point, triangulating all coordinate points contained in the two-dimensional plane in a unidirectional growth mode on the two-dimensional plane, and finally determining association of projection points in a three-dimensional space directly according to the mapping relation and the topological relation, thereby generating a space triangulating net to obtain a curved surface model;
curved surface tangent point according to curved surface model The specific method for determining the diameter of each level of the core sample to be measured comprises the following steps of:
The layers of the core sample to be measured are divided into i layers;
The diameter corresponding to each level is the standard diameter of the core sample to be measured plus the following formula:
;
wherein R is the standard diameter of the core sample to be measured.
The invention has the advantage that the diameter of the side irregular cylinder at different heights can be effectively observed by combining the two-dimensional model and the three-dimensional model.
While the foregoing is directed to embodiments of the present invention, other and further embodiments of the invention may be devised in detail, this disclosure is intended to be illustrative of the principles of the invention and the scope of the appended claims. Other methods and modifications of the present invention are within the scope of the present invention.
Claims (6)
1. The method for measuring the size of the road core sample based on line laser scanning is characterized by comprising the following steps of:
s1, setting the rotating speed of a rotating platform of a laser generator as a divisor of the shooting frequency of a camera;
S2, determining a coordinate relation between coordinate systems of a line laser scanning system based on a direct laser triangulation method, and calculating an internal reference matrix A and an external reference matrix [ R, t ] of a camera to ensure that the camera accurately captures the projection position of a laser line on the surface of a core sample to be detected;
S3, acquiring images with time stamps and grouping the images according to the time stamps, wherein each group of images contains two images;
s4, converting two images in each group of images into two-dimensional images for splicing, and determining the standard diameter and the standard height of the core sample to be detected according to the physical coordinate points of the images after each group of splicing;
s5, carrying out curved surface reconstruction on each group of spliced images based on the Voronoi Thiessen polygon two-dimensional scatter diagram and a greedy projection algorithm, and acquiring the diameters of all levels of the core sample to be detected according to the curved surface reconstruction and the standard diameter of the core sample to be detected;
the specific method of the S5 is that each physical coordinate in each group of spliced images in the S4 is respectively calculated The standardization process, unifies the number of lines i and the number of columns j of physical coordinate points to ensure that the coordinate points in each spliced image are the same, wherein k is the k group of images,,I is the ith row of a row-column structure formed by physical coordinate points in each spliced two-dimensional graph, i epsilon (1, alpha), alpha is the total number of rows of the physical coordinate points contained in the two-dimensional graph, namely the total level of a core sample to be tested;
based on triangulation principle, each physical coordinate in each group of spliced images The connecting lines form triangle combinations which are not overlapped with each other, namely, a dual graph of the Voronoi Thiessen polygon two-dimensional scatter diagram;
Mapping each point and adjacent points thereof in the dual graph to a tangent plane of the point, processing all coordinate points contained in the two-dimensional plane in a one-way growth mode on the two-dimensional plane to generate a triangular grid, and finally determining the association of projection points in a three-dimensional space directly according to the mapping relation and the topological relation to generate a space triangular grid to obtain a curved surface model;
curved surface tangent point according to curved surface model The Y-axis coordinate, the Z-axis coordinate and the standard diameter of the core sample to be measured in the space coordinate system, and the diameters of each level of the core sample to be measured, namely the diameters corresponding to different heights of the core sample to be measured, are determined
The specific method for determining the diameter of each level of the core sample to be measured is as follows:
The layers of the core sample to be measured are divided into alpha layers;
the diameter corresponding to the ith level is shown in the following formula:
;
wherein R is the standard diameter of the core sample to be measured.
2. The method for measuring the core sample size of the road based on the line laser scanning according to claim 1, wherein the specific method of S2 is as follows:
establishing a pixel coordinate system in pixel units (U, v, 1), a camera coordinate system with a camera lens as an origin(Xc, yc, zc) and a world coordinate System established describing the actual position of the camera in three-dimensional space( Xw ,Yw ,Zw );
Based on the coordinate system transformation and the camera projection model principle, a camera internal reference matrix A and an external reference matrix [ R, t ] are obtained;
the coordinate system transformation comprises world coordinate system and camera coordinate system transformation, pixel coordinate system and physical coordinate system transformation;
the conversion relation between the camera coordinate system and the world coordinate system is shown as the following formula:
;
Wherein, The size of the rotation matrix between the camera coordinate system and the world coordinate system is 3*3;
is a translation vector between the camera coordinate system and the world coordinate system;
0 is an all zero matrix of 1*3;
1 is a 1*3 full-matrix;
The conversion relationship between the pixel coordinate system and the physical coordinate system can be expressed as:
;
Wherein dx and dy are the physical lengths of a single pixel in the x-axis and y-axis directions, respectively;
coordinates of any point on an imaging plane under a pixel coordinate system;
Is the coordinate of the origin of the physical coordinate system in the pixel coordinate system;
corresponding coordinates on a physical coordinate system for coordinates of any point on an imaging plane under a pixel coordinate system;
and then establishing a coordinate relation according to the principle of the camera projection model as follows:
;
thereby obtaining a camera reference matrix A and an external reference matrix [ R, t ].
3. The method for measuring the core sample size of the road based on the line laser scanning according to claim 1, wherein the specific method of S3 is as follows:
placing the core sample to be tested on a laser generator rotating platform, and collecting the core sample with a time stamp by a camera And grouping the images of (a) by the time stamp asAndIs a group of images;
Wherein, 、;
All time stamps corresponding to the images acquired by the camera are rotated for one circle by the laser generator rotating platform;
n is the shooting times of the camera and is divided into A group.
4. The method for measuring the core sample size of the road based on the line laser scanning according to claim 1, wherein the specific method of S4 is as follows:
Two images in each group of images are converted into two-dimensional images for splicing, and pixel coordinates in the spliced two-dimensional images are converted into physical coordinates Wherein k is the k-th group of images,,I is the ith row of a row-column structure formed by physical coordinate points in each spliced two-dimensional graph, j is the jth column of a row-column structure formed by physical coordinate points in each spliced two-dimensional graph;
Traversing each row and each column of a row-column structure formed by physical coordinate points in each group of images to obtain the maximum value of the row length of each group of images And maximum value of column lengthEstablishing a row length array,,......,) Sum column length array,,......,) And respectively carrying out normal distribution processing on all data in the row length array and the column length array, and giving weight, and respectively determining the standard diameter and the standard height of the core sample to be measured based on a weighted average mode, wherein the standard diameter and the standard height are shown in the following formula:
;
;
wherein R is the standard diameter of the core sample to be measured, and H is the height of the core sample to be measured;
a weight that is the maximum value of the image line length of the kth group;
Pi is the circumference ratio;
Is the weight of the maximum value of the k-th group image column length.
5. The method for measuring the core sample size of the road based on line laser scanning as claimed in claim 4, wherein the specific method for performing normal distribution treatment and giving weight is as follows:
Respectively processing line length arrays ,,......,) Sum column length array,,......,Calculating the mean value and standard deviation of the row length array and the mean value and standard deviation of the column length array;
Wherein the row length number is grouped ,,......,) Is positioned atThe data of (2) is weighted 0.4 and is locatedAndThe data of (2) is weighted 0.3 and is locatedAndThe data of (2) is given a weight of 0.2, and the rest of the data is given a weight of 0.1;
Array of column lengths [ ] ,,......,) Is positioned at
The data of (2) is weighted 0.4 and is locatedAndThe data of (2) is weighted 0.3 and is locatedAndThe data of (2) was given a weight of 0.2, and the remaining data was given a weight of 0.1.
6. The system for measuring the size of the road core sample based on line laser scanning is characterized by comprising a laser generator rotating platform;
the laser generator rotating platform is electrically connected with PC equipment;
The PC device comprises a memory, a processor and a program stored in the memory and capable of running on the processor;
The PC equipment is also electrically connected with at least one camera;
The processor, when executing the program, implements the method of measuring a road core sample size based on line laser scanning as claimed in any one of claims 1-5.
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| CN118781178A (en) * | 2024-09-11 | 2024-10-15 | 北京航空航天大学杭州创新研究院 | A volume measurement method based on surface reconstruction and triple integral |
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| CN202074947U (en) * | 2011-04-28 | 2011-12-14 | 深圳市建工集团股份有限公司 | Automatic concrete core sample dimension measurement system |
| CN118781178A (en) * | 2024-09-11 | 2024-10-15 | 北京航空航天大学杭州创新研究院 | A volume measurement method based on surface reconstruction and triple integral |
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