CN109827526A - One kind being based on photogrammetric planar smoothness detection method and its flow chart of data processing - Google Patents
One kind being based on photogrammetric planar smoothness detection method and its flow chart of data processing Download PDFInfo
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Abstract
The invention discloses one kind to be based on photogrammetric planar smoothness detection method and its flow chart of data processing, is related to high-performance technical field of intelligent equipment.It should be based on photogrammetric planar smoothness detection method, the following steps are included: in metope marking of control point to be measured, building surveys area and controls net, using marking pen or using index points such as dot pasters, wherein use space measurement auxiliary tool is fixed in initial shooting photo index point, establishes live object space coordinate system.It should be based on photogrammetric planar smoothness detection method and its flow chart of data processing, pass through Intelligent testing equipment, plane to be measured is handled by image data, point cloud model is formed, the three-dimensional space data of determinand is determined using model information, and then determine metope to be measured or the flatness of other planes, its processing accuracy is associated with the performance of equipment and measurement image pickup method, easy to carry, and is non-cpntact measurement, woth no need to multiple personnel cooperation, while whole measurement can be carried out.
Description
Technical field
The present invention relates to high-performance technical field of intelligent equipment, specially a kind of to be detected based on photogrammetric planar smoothness
Method and its flow chart of data processing.
Background technique
In building trade, after the completion of wall construction, need to carry out the detection of flatness, to determine whether build guality accords with
Standardization generallys use traditional guiding ruler and wedge-shaped feeler gauge composition at present and carries out, is used in conjunction with each other by guiding ruler and wedge-shaped feeler gauge,
Its method is by guiding ruler close to metope, and wedge-shaped feeler gauge is inserted at gap, reads reading on wedge-shaped feeler gauge, then by read-record
On handbook.It detects Shi Tongsan people to carry out, wherein a people comes to ruler by inspection metope, another people uses range estimation ruler and metope
Between gap, then clearance gauge is filled in gap, the depth of clearance gauge insertion is bigger, then shows that its flatness is poorer.
In the prior art, the puzzlement factor that measurement method is subject to is more, and device is unhandy to carry about, and needs multiple people
Member's cooperation, while not can be carried out whole measurement, therefore receive higher limitation, work is reduced while increasing manpower expenditure
Make efficiency, the precision of measurement is reduced while increasing measurement difficulty.
Summary of the invention
(1) the technical issues of solving
In view of the deficiencies of the prior art, the present invention provides one kind based on photogrammetric planar smoothness detection method and its
Flow chart of data processing solves in the prior art, and the puzzlement factor that measurement method is subject to is more, and device is unhandy to carry about,
And multiple personnel cooperation is needed, while not can be carried out whole measurement, therefore the problem of receive higher limitation.
(2) technical solution
In order to achieve the above object, the present invention is achieved by the following technical programs: one kind is flat based on photogrammetric plane
Whole degree detection method, comprising the following steps:
S1, in metope marking of control point to be measured, building surveys area and controls net, uses marking pen or using dot paster etc.
Index point, wherein use space measurement auxiliary tool is fixed in initial shooting photo index point, establishes live object space
Coordinate system；
S2, tested surface is shot using semicircular arc more baseline photographies, concrete operations are as follows:
1, preparation is measured, work includes: the initial point value measurement of auxiliary tool and detection device verification；
2, onsite surface cleaning to be measured；
Mark point position, concrete operations are as follows in S3, control point coordinates adjustment photo:
1, control net is established, work includes: that region to be measured (metope) puts up reflecting sign and measures backman with space
Tool carries out coordinate system to mark point and fixes；
2, initialization survey is shot；
S4, by software carry out bundle adjustment, generate three bit digital grid charts, flatness layer colours perspective view,
Concrete operations are as follows:
1, initialization value is inputted into central processing unit；
2, inductor calculates picpointed coordinate, captures measurement image data；
3, acquisition characteristics point；
4, processor calculates data and exports measurement result, while carrying out a cloud and eliminating systematic error；
5, analysis obtains flatness quality testing report, layer colours perspective view and 3-dimensional digital grid chart；
6, region is not met according to flatness quality testing report and layer colours projection map logo.
Preferably, in the step S3, it is necessary to by mark point position in software control point Coordinate Adjusting photo, and will knot
The continuous adjusting and optimizing of fruit.
One kind being based on photogrammetric planar smoothness detection data process flow, comprising the following steps:
Corresponding data is transmitted to motion-control module and handled by S1, sensor acquisition space orientation module；
Corresponding data is transmitted to image capture module and handled by S2, light source compensating module in region to be measured；
S3, corresponding data is sent to image processing module to image capture module and coordinate system conversion module is handled；
The corresponding data that S4, motion-control module, image processing module and coordinate system conversion module are generated concentrates hair
It send to central processing unit graphics processor data analysis module and is handled；
Corresponding data is sent to central processing unit graphics processor data by S5, system calibrating module and data input module
Analysis module is handled；
S6, central processing unit graphics processor data analysis module is handled is sent to the data of generation as the result is shown
Module is shown.
(3) beneficial effect
The present invention provides one kind to be based on photogrammetric planar smoothness detection method and its flow chart of data processing.Have with
It is lower to be based on photogrammetric planar smoothness detection method and its flow chart of data processing the utility model has the advantages that being somebody's turn to do, it be set by intellectualized detection
It is standby, plane to be measured is handled by image data, point cloud model is formed, the three-dimensional space number of determinand is determined using model information
According to, and then determine metope to be measured or the flatness of other planes, the performance and measurement image pickup method of processing accuracy and equipment
It is associated, it is easy to carry, and be non-cpntact measurement, woth no need to multiple personnel cooperation, while whole measurement can be carried out, reduce people
Power improves work efficiency while expenditure, and the precision of measurement is increased while reducing measurement difficulty.
Detailed description of the invention
Fig. 1 is techniqueflow chart of the invention；
Fig. 2 is software data process flow diagram of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The present invention provides a kind of technical solution referring to FIG. 1-2: one kind is based on photogrammetric planar smoothness detection side
Method, which comprises the following steps:
S1, in metope marking of control point to be measured, building surveys area and controls net, uses marking pen or using dot paster etc.
Index point, wherein use space measurement auxiliary tool is fixed in initial shooting photo index point, establishes live object space
Coordinate system, concrete operations are as follows:
Regular 4 and the above control point is marked, object space coordinate system is introduced to mark point by auxiliary tool,
Object space coordinate system is converted with image space coordinate system:
Wherein M is spin matrix, and the reference axis rotation angle of three dimensions is respectively φ, ω, κ.(XOs, YOs, ZOs) is
Coordinate of the image space coordinate system origin o in object space coordinate system.
All there is a corresponding perspective projection, wherein with as the coordinate origin o's and OS for plane in every sheet photo
Distance d is the master of camera away from equal to focal length f, wherein for the optical centre S camera axis of pick-up lens vertically as plane, o is as putting down
Areal coordinate system origin (principal point).
Since capture apparatus is generally used camera, in imaging process, there are systematic error, photograph parameter is divided into inside
Parameter and external parameter.Wherein the optical distortion coefficient of the elements of interior orientation (x0, y0, f) of camera and camera lens is the inside of camera
Parameter.The inner parameter of usual camera can be determined directly according to producer, or before measuring, be set by Laboratory Calibration shooting
Standby inner parameter.And external parameter is the direction parameter of image space coordinate system and object space coordinate system, emphasis of the present invention is logical
Improvement measurement method is crossed, to reduce error caused by elements of exterior orientation.
Face wall to be measured, and minimum range is not less than 0.5m, photographs taking the photograph station by first, is covering wall to be measured
Full scope in, at the uniform velocity rotated according to certain angle, choose first image space coordinate system be photogrammetric coordinate system
System is denoted as OS-xyz, and refreshing a device spatial position records image point position, is denoted as P (X, Y, Z), other take the photograph the spatial position in station
It can be realized according to equipment Acceleration sensor, and be denoted as P1 (X1, Y1, Z1), P2 (X2, Y2, Z2) respectively.
S2, tested surface is shot using semicircular arc more baseline photographies, concrete operations are as follows:
1, preparation is measured, work includes: the initial point value measurement of auxiliary tool and detection device verification；
2, onsite surface cleaning to be measured；
Illustrate three kinds of measuring systems: shooting being scanned to wall to be measured using three kinds of modes, the more baselines of semicircular arc are taken the photograph
Shadow and the more baselines of linear type rotating photograph and singly take the photograph to stand to measure and (wherein singly take the photograph station measurement and belong to prior art conventional means therefore
Not plus additional description).
Linear type rotating more baselines photography, with head take the photograph station and other groups take the photograph station image space coordinate origin line for a straight line
On, and with tested surface keeping parallelism, other are taken the photograph station and take the photograph station different angle according to one, and each take the photograph angle when standing firm picture,
Interval corresponds and identical, and each taking the photograph station is a shooting band respectively, and all take the photograph stands that have shot to wall to be measured be one group.
This method when photographing to wall plane to be measured, should be taken the photograph using more baseline convergent photographies are rotated using more than two
Stand, each take the photograph station should at the uniform velocity rotary taking, the image of shooting is continuous, and it is adjacent between meet 75% or more repetitive rate.Pass through increasing
Add it is certain take the photograph station quantity, improve the Duplication of image, be spliced into an entirety using multiple part shootings, make its precision
It significantly improves, but splicing quantity should not be excessive, otherwise can also reduce its accuracy；
The more baseline photographies of semicircular arc, head take the photograph erect-position in side and are facing perpendicularly to wall center to be measured, whole control points
It is included in imaging, using wall center to be measured as the center of circle, the camber line of certain angle is that other take the photograph the track at station, each takes the photograph station
It is each perpendicular to wall to be measured, and includes all control points, the progressive process in station is each taken the photograph and at the uniform velocity carries out.
This method controls shooting quantity on the basis of ensure that measurement accuracy, and process is simplified, and be ensure that and set
It is standby the distance between with wall to be measured, which combines " triangle mapping principle ", i.e. each tested point at least
Intersected by two photographic light fluxes, which will intersect light beam and be increased to a plurality of, and precision and reliability are obviously significantly increased.And
Take the photograph station track on camber line, i.e., each take the photograph station on photography light have it is corresponding another take the photograph station generate photography light,
Intersection and at approximate 90 degree, with this ensure intersection angle closer to 90 °, the better principle of precision effect；
Mark point position (must get the bid by software control point Coordinate Adjusting photo in S3, control point coordinates adjustment photo
Will point position, and by the continuous adjusting and optimizing of result), concrete operations are as follows:
1, control net is established, work includes: that region to be measured (metope) puts up reflecting sign and measures backman with space
Tool carries out coordinate system to mark point and fixes；
2, initialization survey is shot；
S4, by software carry out bundle adjustment, generate three bit digital grid charts, flatness layer colours perspective view,
Concrete operations are as follows:
1, initialization value is inputted into central processing unit；
2, inductor calculates picpointed coordinate, captures measurement image data；
3, acquisition characteristics point；
4, processor calculates data and exports measurement result, while carrying out a cloud and eliminating systematic error；
5, analysis obtains flatness quality testing report, layer colours perspective view and 3-dimensional digital grid chart；
6, region is not met according to flatness quality testing report and layer colours projection map logo.
One kind being based on photogrammetric planar smoothness detection data process flow, comprising the following steps:
Corresponding data is transmitted to motion-control module and handled by S1, sensor acquisition space orientation module；
Corresponding data is transmitted to image capture module and handled by S2, light source compensating module in region to be measured；
S3, corresponding data is sent to image processing module to image capture module and coordinate system conversion module is handled,
Concrete operations are as follows:
Coordinate data has been measured according to control point, can have been stood in each take the photograph as plane rectangular coordinates in the hope of each control point
The coordinate data of system, schematic diagram is not as shown, under the premise of considering inner parameter (ideally), as plane coordinates
System between image space coordinate system on Z axis at a distance from be a focal length f, and center of projection be principal point, so obtaining control point
Data in image space coordinate system.
Formula 3.13 is obtained by formula 3.11 and formula 3.12.
Solve transforming factor-elements of exterior orientation (foreign side's bit line between object space coordinate system and image space coordinate system
Element and exterior orientation angle element), and have.
Known control point P respectively the coordinate of object space coordinate system O-XYZ and image space coordinate system OS-xyz be (Xp,
Yp, Zp) and (X ' p, Y ' p, Z ' p).Wherein (XOsp, YOsp, ZOsp) is that P point exists
According to formula 1.12 and the available exterior orientation angle element of formula 1.13, ω=arctan (- b3/c3), φ=arcsin
(a3), κ=arctan (- a2/a1).
Exterior orientation line element is obtained according to formula 3.21.
The approximate coordinate of object space point is sought, then the point is at least imaged in two photos, will be corresponding on photo 1 and photo 2
The picture coordinate of picture point substitutes into formula 3.21
It converts above formula to.
The approximation of object space coordinate system is solved, which is measurement data initial value；
The corresponding data that S4, motion-control module, image processing module and coordinate system conversion module are generated concentrates hair
It send to central processing unit graphics processor data analysis module and is handled, concrete operations are as follows:
Carry out bundle adjustment.By the picpointed coordinate at control point, the picpointed coordinate of point to be located and other interior industry, field operation
The whole or a portion of metric data are with integrally solution seeks tested point space coordinate simultaneously.Picpointed coordinate (x, y), photo
Elements of exterior orientation (XOs, YOs, ZOs, φ, ω, κ), object space point coordinate (X, Y, Z), elements of interior orientation and picture point deviation (it is believed that
It is calibrated parameter value), nonlinear equation is linearized, is handled using least square adjustment, picpointed coordinate correction is obtained
Number equation (error equation), under enough picpointed coordinates and relation control, least square solution are as follows:
Wherein picpointed coordinate error equation general expression is as follows: V1=A1X1+A2X2-L1
During actual measurement, the error equation for laying relation control is V2=BX2-L2
There are m photos, then the error equation of i-th point of all corresponding picture point on m photos can be written as
Simplified: Vi=Bi·Xi+Ai·Y-Li, Pi
There is n object space point, then the error equation of all corresponding picture points of the n point on m photos can be written as
Simplified: V=AX-L, P
Using the member, method of disappearing point by point.The normal equation of above formula is NX=U
Wherein:
Simplified:
Method is carried out to the error equation of i-th point of m corresponding picture point on m photos to obtain:
(Ai TPiAi-NiB TNi -1NiB) Y=(Ai TPiLi-NiB TNi -1Ui) 4.3
Overall calculation process is as follows:
(1) calculating of elements of exterior orientation and tested point coordinate approximation；
(2) to all corresponding picture points of each point to be located, the picpointed coordinate error equation listed by formula 4.21, according to formula
4.2 and formula 4.3 obtain eliminate coordinate unknown number correction Xi simplification normal equation；
(3) step (2) are repeated, all tested point methods, disappear member；
(4) it is added, obtains and global approach, the equivalent simplification normal equation (formula 4.1) of the member that disappears to all simplified normal equations；
(5) (formula 4.24) is solved, obtains the elements of exterior orientation of each photo；
(6) space intersection of multiple photos, the object coordinates of each point to be located of node-by-node algorithm are utilized；
(7) it repeats (2)~(6) respectively to walk, until the correction of elements of exterior orientation and the coordinate corrective value of point to be located are less than rule
Fixed limit is poor (generally taking 0.001mm)；
Corresponding data is sent to central processing unit graphics processor data by S5, system calibrating module and data input module
Analysis module is handled；
S6, central processing unit graphics processor data analysis module is handled is sent to the data of generation as the result is shown
Module is shown.
In conclusion photogrammetric planar smoothness detection method and its flow chart of data processing should be based on, pass through intelligence
Plane to be measured is handled by image data, forms point cloud model, the three-dimensional of determinand is determined using model information by detection device
Spatial data, and then determine metope to be measured or the flatness of other planes, the performance and measurement of processing accuracy and equipment are clapped
It is associated to take the photograph method, it is easy to carry, and be non-cpntact measurement, woth no need to multiple personnel cooperation, while whole measurement can be carried out,
It is improved work efficiency while reducing manpower expenditure, the precision of measurement is increased while reducing measurement difficulty.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (3)
1. one kind is based on photogrammetric planar smoothness detection method, which comprises the following steps:
S1, in metope marking of control point to be measured, building surveys area and controls net, using marking pen or using the mark such as dot paster
Point, wherein use space measurement auxiliary tool is fixed in initial shooting photo index point, establishes live object space coordinate
System；
S2, tested surface is shot using semicircular arc more baseline photographies, concrete operations are as follows:
1, preparation is measured, work includes: the initial point value measurement of auxiliary tool and detection device verification；
2, onsite surface cleaning to be measured；
Mark point position, concrete operations are as follows in S3, control point coordinates adjustment photo:
1, control net is established, work includes: that region to be measured (metope) puts up reflecting sign and measures auxiliary tool pair with space
Mark point carries out coordinate system and fixes；
2, initialization survey is shot；
S4, bundle adjustment is carried out by software, generates three bit digital grid charts, flatness layer colours perspective view is specific
It operates as follows:
1, initialization value is inputted into central processing unit；
2, inductor calculates picpointed coordinate, captures measurement image data；
3, acquisition characteristics point；
4, processor calculates data and exports measurement result, while carrying out a cloud and eliminating systematic error；
5, analysis obtains flatness quality testing report, layer colours perspective view and 3-dimensional digital grid chart；
6, region is not met according to flatness quality testing report and layer colours projection map logo.
2. according to claim 1 a kind of based on photogrammetric planar smoothness detection method, it is characterised in that: the step
In rapid S3, it is necessary to by a mark point position in software control point Coordinate Adjusting photo, and by the continuous adjusting and optimizing of result.
3. one kind is based on photogrammetric planar smoothness detection data process flow, which comprises the following steps:
Corresponding data is transmitted to motion-control module and handled by S1, sensor acquisition space orientation module；
Corresponding data is transmitted to image capture module and handled by S2, light source compensating module in region to be measured；
S3, corresponding data is sent to image processing module to image capture module and coordinate system conversion module is handled；
The corresponding data concentration that S4, motion-control module, image processing module and coordinate system conversion module are generated is sent to
Central processing unit graphics processor data analysis module is handled；
Corresponding data is sent to the analysis of central processing unit graphics processor data by S5, system calibrating module and data input module
Module is handled；
S6, central processing unit graphics processor data analysis module is handled that the data of generation are sent to result display module
It is shown.
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| CN110398231A (en) * | 2019-06-18 | 2019-11-01 | 广东博智林机器人有限公司 | Acquisition methods, device, computer equipment and the storage medium of metope parameter |
| CN111238352A (en) * | 2019-11-19 | 2020-06-05 | 广东博智林机器人有限公司 | Wall surface virtual guiding rule detection method, system, equipment and storage medium |
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| CN113432575A (en) * | 2021-05-13 | 2021-09-24 | 北京建筑大学 | Method for detecting wall bulge deformation, measuring robot and storage medium |
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| CN110388861A (en) * | 2019-08-19 | 2019-10-29 | 墨点狗智能科技（东莞）有限公司 | A kind of intelligence wedge-shaped feeler gauge |
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| CN113048920A (en) * | 2021-03-18 | 2021-06-29 | 苏州杰锐思智能科技股份有限公司 | Method and device for measuring flatness of industrial structural part and electronic equipment |
| CN113240637A (en) * | 2021-05-11 | 2021-08-10 | 杭州钱塘智慧城投资开发有限公司 | Wall flatness informatization detection method and system based on machine learning |
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