CN115183104A - Monocular camera-based AR vision lofting device and vision lofting method thereof - Google Patents

Monocular camera-based AR vision lofting device and vision lofting method thereof Download PDF

Info

Publication number
CN115183104A
CN115183104A CN202210904767.1A CN202210904767A CN115183104A CN 115183104 A CN115183104 A CN 115183104A CN 202210904767 A CN202210904767 A CN 202210904767A CN 115183104 A CN115183104 A CN 115183104A
Authority
CN
China
Prior art keywords
lofting
centering rod
adjusting
frame
rod
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210904767.1A
Other languages
Chinese (zh)
Inventor
李金平
崔红杰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Binghe Navigation Technology Co ltd
Original Assignee
Shenzhen Binghe Navigation Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Binghe Navigation Technology Co ltd filed Critical Shenzhen Binghe Navigation Technology Co ltd
Priority to CN202210904767.1A priority Critical patent/CN115183104A/en
Publication of CN115183104A publication Critical patent/CN115183104A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F16M11/045—Allowing translations adapted to left-right translation movement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F16M11/048—Allowing translations adapted to forward-backward translation movement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/16—Details concerning attachment of head-supporting legs, with or without actuation of locking members thereof
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
    • 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
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Accessories Of Cameras (AREA)

Abstract

The invention relates to the technical field of measurement lofting, in particular to an AR (augmented reality) visual lofting device based on a monocular camera and a visual lofting method thereof. According to the invention, the two sides of the screw rod are connected with the two adjusting blocks in a screwing manner, so that the screw rod I and the screw rod II can be rotated, the adjusting block I and the adjusting block II drive the bottom end of the centering rod to move, the position of the bottom of the centering rod is accurately adjusted according to the difference, errors meet the requirement, the position of the bottom of the centering rod only needs to be adjusted once, the position of the centering rod does not need to be adjusted by hands for many times, rapid lofting is facilitated, and the use is more convenient.

Description

Monocular camera-based AR vision lofting device and vision lofting method thereof
Technical Field
The invention relates to the technical field of measurement lofting, in particular to an AR (augmented reality) vision lofting device based on a monocular camera and a vision lofting method thereof.
Background
The most important work in engineering measurement is lofting, a corresponding point is found out on a construction site according to longitude and latitude coordinates of a well-determined point position on a drawing, when lofting is carried out, an RTK (real time kinematic) position indicator is usually used, a measurer can hold a centering rod arranged at the bottom of the RTK position indicator in a hand mode, and the coordinate of the bottom end of the centering rod is determined through the RTK position indicator, so that the measurer can move to the coordinates of the lofting point according to the coordinates of the bottom end of the centering rod and can normally and directly move according to the distance and the direction indicated on a display screen, but when the bottom end of the centering rod is moved to the position of the lofting point, the coordinate of the bottom end of the centering rod needs to be verified through the RTK position indicator so as to determine whether the difference value between the coordinates of the bottom end of the centering rod and the coordinates of the lofting point meets the error requirement, if the position of the centering rod does not meet the error requirement, the bottom end of the centering rod can be moved in a handheld mode for many times until the error requirement is met, lofting is troublesome, and is not beneficial to rapid lofting, and is inconvenient to use.
Disclosure of Invention
In order to overcome the technical problems, the invention aims to provide an AR (augmented reality) visual lofting device based on a monocular camera and a visual lofting method thereof.
The purpose of the invention can be realized by the following technical scheme:
an AR visual lofting device based on a monocular camera comprises a positioning instrument, wherein a centering rod is arranged on the bottom surface of the positioning instrument, a camera is fixedly connected to the bottom of the side surface of the positioning instrument, an adjusting module is arranged at the bottom end of the centering rod, the adjusting module comprises an adjusting frame, an adjusting rod is slidably connected to the inner side surface of the adjusting frame, a connecting mechanism is arranged on the side surface of one side of the adjusting rod and is rotatably connected with the bottom end of the centering rod, a connecting groove is formed in the inner side surface of one side of the adjusting frame, a first screw rod is rotatably connected to the inner side surface of the connecting groove, a first adjusting block which is slidably connected with the inner side surface of the connecting groove is rotatably connected to one side surface of the adjusting block and is fixedly connected with one end of the adjusting rod, a strip-shaped groove is formed in the inner side surface of the adjusting frame, a second screw rod which penetrates through the strip-shaped groove is rotatably connected to the inner side surface of the adjusting rod, the two sides of the screw rod are in screwed connection with a second adjusting block which is in sliding connection with the inner side surface of the adjusting rod, the two sides of the adjusting block are in rotating connection with the connecting mechanism, the coordinate of the bottom end of the centering rod is determined according to the positioning instrument, then the centering rod is held by hands to move to a sampling point coordinate, the bottom end of the centering rod is moved to the sampling point position, when the difference value between the coordinate of the bottom end of the centering rod and the sampling point coordinate does not meet the error requirement, the first screw rod and the second screw rod can be rotated, the first adjusting block can be moved by the rotation of the first screw rod, the first adjusting block can drive the adjusting rod to move, the connecting mechanism drives the bottom end of the centering rod to move, the second adjusting block can be moved by the rotation of the second screw rod, the second adjusting block can drive the centering rod to move through the connecting mechanism, so that the position of the bottom end of the centering rod can be accurately adjusted transversely and longitudinally according to the difference value between the bottom end coordinate of the centering rod and the sampling point coordinate can meet the error requirement, therefore, the position of the bottom of the centering rod only needs to be adjusted once, the position of the centering rod does not need to be adjusted by holding for many times, quick lofting is facilitated, and the centering rod is convenient to use.
The method is further characterized in that: the utility model discloses a centering rod, including adjusting bracket, annular frame, stopper, regulating screw, regulating block two, adjusting block one and regulating block two, the regulating bracket bottom surface is rotated and is connected with annular frame, the equal fixedly connected with in four turnings in adjusting bracket bottom surface rotates the stopper of being connected with annular frame side, and the stopper can be connected adjusting bracket and annular frame, can place annular frame subaerial to rotate the adjusting bracket on annular frame, thereby when accommodate the lead screw rotates with lead screw two, regulating block one and regulating block two's moving direction makes regulating block one and regulating block two can be respectively horizontal and longitudinal movement, is convenient for like this according to the coordinate difference, the position of quick adjustment centering rod bottom.
Further, the method comprises the following steps: two locating grooves are formed in the bottom surface of the adjusting frame, a latch block in contact with the top surface of the annular frame is connected to the inner side surface of each locating groove in a sliding mode, two springs fixedly connected with the top surfaces of the latch blocks and the inner side surfaces of the locating grooves can be arranged on the top surface of the annular frame, and therefore under the action of the springs, the bottom surfaces of the latch blocks can be tightly attached to the rough surfaces, and the adjusting frame is limited to rotate on the annular frame.
Further, the method comprises the following steps: the locating groove inner top surface is provided with a thread groove, the top surface of the latch block is rotatably connected with a pull rod penetrating through the thread groove, the side surface of the pull rod is located inside the locating groove and is provided with locating threads, the latch block can be pulled upwards through the pull rod to separate the latch block from a rough surface, and at the moment, the adjusting frame can be rotated on the annular frame.
Further, the method comprises the following steps: the utility model discloses a two-dimensional adjustable compass, including regulation frame, lead screw, compass, pointer, regulation piece two, the regulation frame top surface both sides all are embedded to have the compass, the regulation frame top surface corresponds two compasses and is provided with two graduations, two the graduations all is parallel with the two axis of lead screw, when the adjustment frame position was put up to the loop type, can make the graduations align with the pointer of adjacent compass to make regulating block one and the moving direction of regulating block two can follow east and west direction and north and south direction respectively, be convenient for to the regulation of centering rod bottom coordinate.
Further, the method comprises the following steps: the connecting mechanism comprises a connecting frame, the side face of the connecting frame is in contact with the two side faces of the adjusting block, two inner side faces of the connecting frame are provided with inserting blocks, sliding grooves I are formed in the two sides of the side face of the centering rod, circular grooves I are formed in the inner top face and the inner bottom face of each sliding groove I, the inner side faces of the circular grooves I located at the bottom are rotatably connected with the side faces of the adjacent inserting blocks, sliding grooves II are formed in the side face of the connecting frame, circular grooves II are formed in the two inner side faces of the sliding grooves II, the two side faces of the adjusting block are fixedly connected with connecting blocks rotatably connected with the inner side faces of the adjacent circular grooves II, the inserting blocks can rotate in the circular grooves I, the connecting blocks can rotate in the adjusting blocks II, the centering rod can rotate in any direction, therefore, when the centering rod is in different postures, coordinates of the bottom end of the centering rod can be measured by a positioning instrument for multiple times, the centering rod can be beneficial to improvement of lofting accuracy, the connecting frame can be rotated, the connecting block can be opposite to the sliding grooves II, the connecting frame can be moved, the connecting block can be moved into the sliding grooves II, the connecting block can be moved to enable the adjusting frame to rotate to move to the centering rod to move to one side of the adjusting block, and the centering rod, and the adjusting block can be opposite to move to one side of the centering rod inserting block, and then to move the centering rod.
Further, the method comprises the following steps: two sides of the connecting frame are connected with positioning screws connected with adjacent plug blocks in a screwing mode, the side of the centering rod is connected with clamping screws penetrating through a sliding groove I in a screwing mode, the plug blocks can be screwed into the centering rod after being moved into a circular groove I at the top, the clamping screws can block the position of the connecting frame, the height of the adjusting module is kept, the annular frame can be rotated relative to the adjusting frame, notches of the annular frame can be staggered with the centering rod, the bottom of the annular frame can be abutted to the centering rod, the top of the adjusting frame can be abutted to the centering rod, rotation of the adjusting frame relative to the centering rod is limited, the adjusting module is stably collected on one side of the centering rod, the clamping screws can be rotated, the clamping screws can be separated from the plug blocks, at the moment, the plug blocks can be moved along the inner side face of the connecting frame and then can be separated from the connecting frame, the centering rod can be separated from the connecting frame, and the position of the centering rod can be used only through handheld adjustment according to needs.
The AR vision lofting method based on the monocular camera comprises the method steps of calculating visual field coordinates, determining lofting point positions, marking positions and verifying lofting, and specifically comprises the following steps:
(1) Calculating the visual field coordinates: accurately calculating four corner geographic coordinates of a ground image shot by a camera according to the coordinates of a positioning instrument of the device, the coordinates of the bottom end of the centering rod and the attitude and visual angle parameters of the camera;
(2) Determining the position of the lofting point: calculating the position of a lofting point in the visual field of the camera according to the geographic coordinates of four corners of the ground image shot by the camera and the known coordinates of the lofting point, namely the X, Y coordinates in the 640 x 480 image;
(3) Marking the position: the method comprises the steps that an image shot by a camera is displayed through a display screen, lofting points are marked in the image displayed by the display screen according to X, Y coordinates of the lofting points in the image, the lofting points can be overlapped at X, Y coordinate positions, visual lofting is achieved, meanwhile, a circular error range can be estimated according to the lofting point positions, a circular ring is marked in the image according to the range, and the maximum possibility that the lofting points are located in the circular ring is shown;
(4) And (3) verification lofting: according to the position and the ring of the lofting point on the image displayed on the display screen, the centering rod moves towards the marked position and the ring, after the lofting point marked by the image is moved, the bottom end position of the centering rod is determined through a positioning instrument, whether the bottom end coordinate of the centering rod is the same as the coordinates of the lofting point is verified, if the error meets the requirement, lofting work is completed, if the error does not meet the requirement, the bottom end position of the centering rod is adjusted through an adjusting module according to the difference value of the bottom end coordinate of the centering rod and the coordinates of the lofting point, the difference value between the bottom end coordinate of the centering rod and the coordinates of the lofting point is reduced, the difference value meets the requirement, and lofting is completed.
The camera and the locator are integrated together, a display screen for displaying pictures shot by the camera can be attached to the locator, the offset of X, Y, Z of the center point of the camera and the center point of the RTK antenna can be accurately measured during product design and production, the error is less than 1mm, the locator is arranged at the top end of the centering rod, the length of the centering rod can be accurately measured and input into the locator, the error of the centering rod is equal to or less than 1mm, when the locator is used for tilt measurement, the position of the centering rod on the ground and the position of the center of the locator antenna can be accurately obtained, the error is not more than 10mm, attitude data of the camera, such as a pitch angle, a roll angle and a course angle, can be accurately obtained through a gyroscope and the like, and meanwhile, the transverse visual angle and the longitudinal visual angle of the camera are fixed after production, so that the transverse visual angle and the longitudinal visual angle of the camera can be accurately obtained, therefore, the position indicator coordinate in the step of calculating the visual field coordinate, the bottom end coordinate of the centering rod and the posture and visual angle parameters of the camera can be obtained according to the parameters, the working scene of the device is a flat horizontal ground, and meanwhile, the distance between a user and a lofting point is not more than two meters.
The invention has the beneficial effects that:
1. the two sides of the screw rod are in screwed connection with a second adjusting block, when the bottom end of the centering rod is moved to a lofting point position and the difference value between the coordinate of the bottom end of the centering rod and the coordinate of the lofting point does not meet the error requirement, the first screw rod and the second screw rod can be rotated, so that the first adjusting block and the second adjusting block drive the bottom end of the centering rod to move, the position of the bottom of the centering rod is accurately adjusted according to the difference value, the error meets the requirement, the position of the bottom of the centering rod only needs to be adjusted once, the position of the centering rod does not need to be adjusted by hands for many times, rapid lofting is facilitated, and the use is convenient;
2. the connecting block is rotatably connected with the inner side face of the second circular groove through the connecting block, so that the connecting block corresponds to the sliding groove in a corresponding mode, the connecting block can penetrate through the sliding groove in a corresponding mode, the connecting block can move from one circular groove to the inside of the other circular groove in a corresponding mode, the adjusting frame can be rotated to one side of the centering rod, the adjusting module is received by one side of the centering rod, the accommodating is convenient, the shooting of a camera is avoided being influenced, and the smooth marking of a lofting point on an image is guaranteed;
3. the centering rod can be directly moved as required by rotating the positioning screw to separate the positioning screw from the inserting block and taking the inserting block out of the connecting frame.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a schematic view of the overall structure of an AR vision lofting device based on a monocular camera according to the present invention;
FIG. 2 is a schematic view of the bottom structure of the locator according to the present invention;
FIG. 3 is a side view of the centering rod of the present invention;
FIG. 4 is a schematic top view of an adjustment module of the present invention;
FIG. 5 is a schematic diagram of the internal side view of the adjustable bracket of the present invention;
FIG. 6 is a schematic top view of the inside of the connection frame of the present invention;
FIG. 7 is a schematic view of a second sliding groove in front view;
FIG. 8 is a block diagram of the flowchart of the AR vision lofting method based on the monocular camera according to the present invention.
In the figure: 100. a positioning instrument; 200. a centering rod; 210. a first sliding groove; 220. a clamping screw; 230. a first circular groove; 300. an adjustment module; 310. an adjusting bracket; 311. a first screw rod; 312. a first adjusting block; 313. scribing lines; 314. a limiting block; 315. a spring; 316. a latch block; 320. an annular frame; 330. adjusting a rod; 331. a second screw rod; 332. a second adjusting block; 333. connecting blocks; 340. a connecting mechanism; 341. an insertion block; 342. a set screw; 343. a second sliding groove; 344. a connecting frame; 345. a second circular groove; 350. a pull rod.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-7, the AR vision lofting apparatus based on a monocular camera comprises an aligner 100, a centering rod 200 is disposed on the bottom surface of the aligner 100, the camera is fixedly connected to the bottom of the side surface of the aligner 100, an adjusting module 300 is disposed at the bottom end of the centering rod 200, the adjusting module 300 comprises an adjusting frame 310, an adjusting rod 330 is slidably connected to the inner side surface of the adjusting frame 310, a connecting mechanism 340 is disposed on the side surface of one side of the adjusting rod 330, the connecting mechanism 340 is rotatably connected to the bottom end of the centering rod 200, a connecting groove is disposed on the inner side surface of one side of the adjusting frame 310, a first lead screw 311 is rotatably connected to the inner side surface of the connecting groove, a first adjusting block 312 is rotatably connected to the side surface of the first lead screw 311, the side surface of the first adjusting block 312 is fixedly connected to one end of the adjusting rod 330, a strip-shaped groove is disposed on the inner side surface of the other side of the adjusting frame 310, and a second lead screw 331 is rotatably connected to the inner side surface of the adjusting rod 330, the side surface of the second screw rod 331 is connected with a second adjusting block 332 which is connected with the inner side surface of the adjusting rod 330 in a sliding manner in a screwing manner, the side surface of the second adjusting block 332 is connected with a connecting mechanism 340 in a rotating manner, the coordinate of the bottom end of the centering rod 200 is determined according to the positioning instrument 100, then the centering rod 200 is held by hand and moves to the coordinates of the lofting point, when the bottom end of the centering rod 200 is moved to the position of the lofting point and the difference value between the coordinate of the bottom end of the centering rod 200 and the coordinates of the lofting point does not meet the error requirement, the first screw rod 311 and the second screw rod 331 can be rotated, the first adjusting block 312 can be moved by rotating the first screw rod 311, the first adjusting block 312 can drive the adjusting rod 330 to move, the connecting mechanism 340 drives the bottom end of the centering rod 200 to move, the second adjusting block 331 can move the adjusting block 332, the second adjusting block 332 can drive the centering rod 200 to move by the connecting mechanism 340, so that the position of the bottom end of the centering rod 200 can be accurately adjusted transversely and longitudinally according to the difference value of the coordinate, the difference value between the coordinate of the bottom end of the centering rod 200 and the coordinate of the lofting point can meet the error requirement, so that the position of the bottom of the centering rod 200 is adjusted only once, the position of the centering rod 200 does not need to be adjusted by hands for many times, rapid lofting is facilitated, and the use is convenient.
The bottom surface of the adjusting frame 310 is rotatably connected with the annular frame 320, four corners of the bottom surface of the adjusting frame 310 are fixedly connected with the limiting blocks 314 rotatably connected with the side surfaces of the annular frame 320, the limiting blocks 314 can connect the adjusting frame 310 with the annular frame 320, the annular frame 320 can be placed on the ground, and the adjusting frame 310 is rotated on the annular frame 320, so that when the first adjusting screw rod 311 and the second adjusting screw rod 331 rotate, the moving directions of the first adjusting block 312 and the second adjusting block 332 are adjusted, the first adjusting block 312 and the second adjusting block 332 can respectively move transversely and longitudinally, and the position of the bottom of the centering rod 200 can be adjusted rapidly according to a coordinate difference value.
Two constant head tanks have been seted up to alignment jig 310 bottom surface, and constant head tank medial surface sliding connection has the latch piece 316 with the contact of ring type frame 320 top surface, and two springs 315 of latch piece 316 top surface fixedly connected with and constant head tank medial surface fixed connection can set up the mat surface at ring type frame 320 top surface, like this under the effect of spring 315, can hug closely with the mat surface latch piece 316 bottom surface to restriction alignment jig 310 rotates on ring type frame 320.
The locating slot inner top surface has seted up the thread groove, and latch piece 316 top surface rotates to be connected with the pull rod 350 that passes the thread groove, and the pull rod 350 side is located the inside location screw that is provided with of locating slot, can upwards pull latch piece 316 through pull rod 350, makes latch piece 316 and rough surface break away from, can rotate at this moment on ring type frame 320 and adjust frame 310.
Compasses are embedded in both sides of the top surface of the adjusting frame 310, two scribed lines 313 are arranged on the top surface of the adjusting frame 310 corresponding to the two compasses, the two scribed lines 313 are parallel to the axes of the second screw rod 331, when the position of the adjusting frame 310 is adjusted on the annular frame 320, the scribed lines 313 can be aligned with the pointers of the adjacent compasses, and therefore the moving directions of the first adjusting block 312 and the second adjusting block 332 can be respectively along the east-west direction and the south-north direction, and the adjustment of the coordinates of the bottom of the centering rod 200 is facilitated.
The connecting mechanism 340 comprises a connecting frame 344, the side surface of the connecting frame 344 is in contact with the side surface of the second adjusting block 332, two inner side surfaces of the connecting frame 344 are respectively provided with an inserting block 341, two sides of the side surface of the centering rod 200 are respectively provided with a first sliding groove 210, the inner top surface and the inner bottom surface of the first sliding groove 210 are respectively provided with a first circular groove 230, the inner side surface of the first circular groove 230 positioned at the bottom is rotatably connected with the side surface of the adjacent inserting block 341, the side surface of the connecting frame 344 is provided with a second sliding groove 343, two ends of the inner side surface of the second sliding groove 343 are respectively provided with a second circular groove 345, the side surface of the second adjusting block 332 is fixedly connected with a connecting block 333 rotatably connected with the inner side surface of the adjacent second circular groove 345, the inserting block 341 can rotate in the first circular groove 230, the connecting block 333 can rotate in the second adjusting block 332, so that the centering rod 200 can rotate along any direction, therefore, when the centering rod 200 is in different postures, the coordinate of the bottom end of the centering rod 200 is measured for multiple times through the positioning instrument 100, so that lofting accuracy is improved, the connecting frame 344 can be rotated, the connecting block 333 can be opposite to the second sliding groove 343, at this time, the connecting frame 344 can be moved, the connecting block 333 is inserted into the second sliding groove 343, so that the connecting block 333 is moved into the second circular groove 345 from the second circular groove 345, then the connecting block 333 can rotate in the second circular groove 345, the adjusting frame 310 and the annular frame 320 are rotated to one side of the centering rod 200, the centering rod 200 can be rotated relative to the connecting frame 344, the inserting block 341 is opposite to the first sliding groove 210, and then the inserting block 341 can move upwards along the first sliding groove 210, so that the adjusting module 300 is received at one side of the centering rod 200.
The two side surfaces of the connecting frame 344 are screwed and connected with the positioning screws 342 screwed and connected with the adjacent insertion blocks 341, the side surface of the centering rod 200 is screwed and connected with the clamping screws 220 penetrating through the sliding grooves I210, after the insertion blocks 341 are moved into the circular grooves I230 at the top, the clamping screws 220 can be screwed into the centering rod 200, so that the clamping screws 220 block the position of the connecting frame 344, thereby the height of the adjusting module 300 is kept, the annular frame 320 can be rotated relative to the adjusting frame 310, so that the gap of the annular frame 320 is staggered with the centering rod 200, so that the bottom of the annular frame 320 can be abutted against the centering rod 200, and the top of the adjusting frame 310 can be abutted against the centering rod 200, thereby the rotation of the adjusting frame 310 relative to the centering rod 200 is limited, the adjusting module 300 is stably retracted on one side of the centering rod 200, the clamping screws 220 can be rotated, so that the clamping screws 220 are disengaged from the insertion blocks 341, at this time, the insertion blocks 341 can be moved along the connecting frame 344 and then disengaged from the connecting frame 344, so that the centering rod 200 can be disengaged as required, and only the position of the centering rod 200 can be used.
Referring to fig. 8, the AR vision lofting method based on the monocular camera includes the steps of calculating the coordinates of the field of view, determining the position of the lofting point, marking the position, and verifying lofting, and includes the following steps:
(1) Calculating the visual field coordinates: accurately calculating four corner geographic coordinates of a ground image shot by a camera according to the coordinates of a locator 100, the coordinates of the bottom end of a centering rod 200 and the attitude and visual angle parameters of the camera of the device;
(2) Determining the position of the lofting point: calculating the position of a lofting point in the visual field of the camera according to the geographic coordinates of four corners of the ground image shot by the camera and the known coordinates of the lofting point, namely the X, Y coordinates in the 640 x 480 image;
(3) Marking the position: the method comprises the steps that an image shot by a camera is displayed through a display screen, lofting points are marked in the image displayed by the display screen according to X, Y coordinates of the lofting points in the image, the lofting points can be overlapped at X, Y coordinate positions, visual lofting is achieved, meanwhile, a circular error range can be estimated according to the lofting point positions, a circular ring is marked in the image according to the range, and the maximum possibility that the lofting points are located in the circular ring is shown;
(4) And (3) verification lofting: according to the position and the ring of the lofting point on the image displayed on the display screen, the centering rod 200 is moved to the marked position and the ring, after the lofting point marked by the image is moved, the bottom end position of the centering rod 200 is determined through the positioning instrument 100, whether the bottom end coordinate of the centering rod 200 is the same as the lofting point coordinate or not is verified, if the error meets the requirement, lofting work is completed, if the error does not meet the requirement, the bottom end position of the centering rod 200 is adjusted through the adjusting module 300 according to the difference value of the bottom end coordinate of the centering rod 200 and the lofting point coordinate, the difference value of the bottom end coordinate of the centering rod 200 and the lofting point coordinate is reduced, the difference value meets the requirement, and lofting is completed.
The camera and the locator 100 are integrated together, a display screen for displaying a picture shot by the camera can be attached to the locator 100 in a matched manner, the offset of X, Y, Z of the center point of the camera and the center point of an RTK antenna can be accurately measured during product design and production, the error is less than 1mm, the locator 100 is arranged at the top end of the centering rod 200, the length of the centering rod 200 can be accurately measured and input into the locator 100, the length error of the centering rod 200 is also less than or equal to 1mm, the position of the centering rod 200 on the ground and the position of the antenna center of the locator 100 can be accurately obtained during tilt measurement of the locator 100, the error is not more than 10mm, attitude data of the camera such as a pitch angle, a roll angle and a course angle can be accurately obtained through a gyroscope and the like, meanwhile, the transverse visual angle and the longitudinal visual angle of the camera are fixed after production, so that the attitude and the visual angle parameters of the centering rod 200 and the camera attitude and the visual angle parameters can be accurately obtained, the coordinate of the locator 100, the bottom end of the centering rod 200 and the bottom end coordinate and the visual angle of the locating rod can be accurately displayed by a conventional method, and the method can be used for accurately displaying the centering rod when the centering rod is not close to the positioning point and the positioning, the positioning efficiency of the positioning module is not more easily improved by a conventional method, and the positioning method can be easily controlled by a sample positioning module, thereby, the positioning module.
The working principle is as follows: when the centering rod is used, the coordinates of the bottom end of the centering rod 200 are determined according to the locator 100, then the centering rod 200 is held by hands, the centering rod 200 is moved to the coordinates of the lofting points, when the distance between the centering rod and the lofting points is less than two meters, the lofting points can be located in a picture shot by a camera, at this time, the positions of the lofting points in the picture displayed on a display screen are determined according to the geographical coordinates of four corners and the coordinates of the lofting points of a ground image shot by the camera, visual lofting is formed, then the centering rod 200 can be moved according to the middle position of the picture, the bottom end of the centering rod 200 is moved to the positions of the lofting points in the picture, after the movement is completed, the coordinates of the centering rod 200 at this time can be determined through the locator 100, the coordinates of the centering rod and the coordinates of the lofting points are compared, if the difference meets the requirement of an error, the position of the bottom end of the centering rod 200 at this time is the lofting point, if the difference is large, and the requirement of the error is not met, the position of the bottom end of the centering rod 200 needs to be adjusted;
the adjusting frame 310 can move downwards, the bottom surface of the ring-shaped frame 320 is in contact with the flat ground, the pull rod 350 is pulled upwards, the pull rod 350 can drive the latch block 316 upwards to move, the latch block 316 is separated from the rough surface of the top of the ring-shaped frame 320, the adjusting frame 310 is rotated on the ring-shaped frame 320, the pointer of the compass faces to correspond to the adjacent scribed line 313, the pull rod 350 can be loosened, the latch block 316 can be abutted against the rough surface under the action of the spring 315 to limit the position of the adjusting frame 310, then the first screw rod 311 and the second screw rod 331 can be rotated, the first screw rod 311 can be rotated to move the first adjusting block 312, the first adjusting block 312 can drive the adjusting rod 330 to move, the connecting mechanism 340 can drive the bottom end of the centering rod 200 to move, the second screw rod 331 can be rotated to move the second adjusting block 332, the second adjusting block 332 can drive the connecting frame 344 to move through the connecting block 333, the connecting frame 344 can drive the centering rod 200 to move through the inserting block 341, and accordingly, the bottom end of the coordinate difference between the transverse direction and the longitudinal direction of the centering rod 200 can be accurately adjusted according to the difference between the coordinate difference value and the sample point;
after the adjustment is completed, the sampling point may be marked, then the first screw rod 311 and the second screw rod 331 are rotated to move the first adjusting block 312 and the second adjusting block 332 to the original positions, and the relative angle between the adjusting frame 310 and the annular frame 320 is adjusted, the centering rod 200 may be rotated to drive the connecting frame 344 to rotate, so that the connecting block 333 may face the second sliding groove 343, at this time, the connecting frame 344 may be moved to allow the connecting block 333 to penetrate the second sliding groove 343, so that the connecting block 333 moves from the second circular groove 345 to the second circular groove 345, then the connecting block 333 may rotate in the second circular groove 345, so that the adjusting frame 310 and the annular frame 320 may rotate to the side of the centering rod 200, at this time, the centering rod 200 may be rotated relative to the connecting frame 344, so that the inserting block 341 faces the first sliding groove 210, at this time, the inserting block 341 may move upward along the first sliding groove 210, after the inserting block 341 moves into the first circular groove 230 at the top, the positioning screw 220 may be rotated relative to block the adjusting frame 300, so that the adjusting module may be rotated relative to the adjusting frame 310 to the top of the centering rod 310, so that the adjusting frame 310 may abut against the adjusting module 320, so that the adjusting module 310 may be rotated and the adjusting module 320, and the adjusting module may be rotated to abut against the adjusting frame 320, so that the adjusting module 310, and the adjusting module 320.
In the description herein, references to the description of "one embodiment," "an example," "a specific example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing is illustrative and explanatory only and is not intended to be exhaustive or to limit the invention to the precise embodiments described, and various modifications, additions, and substitutions may be made by those skilled in the art without departing from the scope of the invention or exceeding the scope of the claims.

Claims (8)

1. AR vision lofting device based on monocular camera, a serial communication port, including locater (100), locater (100) bottom surface is provided with centering rod (200), locater (100) side bottom fixedly connected with camera, centering rod (200) bottom is provided with adjusting module (300), adjusting module (300) includes alignment jig (310), alignment jig (310) medial surface sliding connection has regulation pole (330), it is provided with coupling mechanism (340) to adjust pole (330) one side, coupling mechanism (340) is rotated with centering rod (200) bottom and is connected, the spread groove has been seted up to alignment jig (310) one side medial surface, the spread groove medial surface rotates and is connected with lead screw (311), lead screw one (311) side closes soon and is connected with first (312) of regulating block with spread groove medial surface sliding connection, and just adjust a (312) side and adjust pole (330) one end fixed connection, the bar groove has been seted up to alignment jig (310) one side, it rotates and is connected with two (331) of the medial surface that pass the bar groove to adjust pole (330) medial surface (331) the medial surface, two (331) medial surface rotate and are connected with lead screw (332) and adjust the adjusting block (332), and connect adjusting block (332).
2. The AR vision lofting device based on the monocular camera as claimed in claim 1, wherein a ring-shaped frame (320) is rotatably connected to the bottom surface of the adjusting frame (310), and a limiting block (314) rotatably connected to the side surface of the ring-shaped frame (320) is fixedly connected to each of four corners of the bottom surface of the adjusting frame (310).
3. The AR vision lofting device based on the monocular camera as recited in claim 2, wherein the bottom surface of the adjusting frame (310) is provided with two positioning grooves, the inner side surfaces of the positioning grooves are slidably connected with a latch block (316) in contact with the top surface of the ring-shaped frame (320), and the top surface of the latch block (316) is fixedly connected with two springs (315) fixedly connected with the inner side surfaces of the positioning grooves.
4. The AR vision lofting device based on the monocular camera according to claim 3, characterized in that a thread groove is formed on the inner top surface of the positioning groove, a pull rod (350) passing through the thread groove is rotatably connected to the top surface of the latch block (316), and a positioning thread is arranged on the side surface of the pull rod (350) inside the positioning groove.
5. The monocular camera based AR visual lofting device of claim 2, wherein compasses are embedded in both sides of the top surface of the adjusting frame (310), two scribed lines (313) are arranged on the top surface of the adjusting frame (310) corresponding to the two compasses, and both of the scribed lines (313) are parallel to the axis of the second lead screw (331).
6. The monocular camera based AR vision lofting device according to claim 1, wherein the connecting mechanism (340) comprises a connecting frame (344), the side surface of the connecting frame (344) is in contact with the side surface of the second adjusting block (332), two inner side surfaces of the connecting frame (344) are provided with the insertion blocks (341), two side surfaces of the centering rod (200) are provided with the first sliding grooves (210), the inner top surfaces and the inner bottom surfaces of the first sliding grooves (210) are provided with the first circular grooves (230), the inner side surfaces of the first circular grooves (230) at the bottom are rotatably connected with the side surfaces of the adjacent insertion blocks (341), two sliding grooves (343) are provided on the side surfaces of the connecting frame (344), two inner side surfaces of the second sliding grooves (343) are provided with the second circular grooves (345), and the side surfaces of the second adjusting blocks (332) are fixedly connected with the connecting blocks (333) rotatably connected with the inner side surfaces of the adjacent second circular grooves (345).
7. The AR vision lofting device based on the monocular camera as claimed in claim 6, wherein two sides of the connecting frame (344) are screwed with positioning screws (342) connected with adjacent plug blocks (341) in a screwing manner, and the side of the centering rod (200) is screwed with clamping screws (220) passing through the first sliding groove (210).
8. The AR vision lofting method based on the monocular camera is characterized by comprising the method steps of calculating visual field coordinates, determining lofting point positions, marking positions and verifying lofting, and specifically comprises the following steps:
(1) Calculating the visual field coordinates: accurately calculating the geographic coordinates of four corners of a ground image shot by a camera according to the coordinates of a positioning instrument (100) of the device, the coordinates of the bottom end of a centering rod (200) and the attitude and visual angle parameters of the camera;
(2) Determining the position of the lofting point: calculating the position of a lofting point in the visual field of the camera according to the geographic coordinates of four corners of the ground image shot by the camera and the known coordinates of the lofting point, namely the X, Y coordinates in the 640 x 480 image;
(3) Marking the position: the method comprises the steps that an image shot by a camera is displayed through a display screen, lofting points are marked in the image displayed by the display screen according to X, Y coordinates of the lofting points in the image, the lofting points can be overlapped at X, Y coordinate positions, visual lofting is achieved, meanwhile, a circular error range can be estimated according to the lofting point positions, a circular ring is marked in the image according to the range, and the maximum possibility that the lofting points are located in the circular ring is shown;
(4) And (3) verification lofting: according to the position and the ring of the lofting point on the image displayed on the display screen, the centering rod (200) is moved to the marked position and the ring, after the lofting point marked by the image is moved, the bottom end position of the centering rod (200) is determined through the positioning instrument (100), whether the bottom end coordinate of the centering rod (200) is the same as the lofting point coordinate or not is verified, if the error meets the requirement, lofting work is completed, if the error does not meet the requirement, the bottom end position of the centering rod (200) is adjusted through the adjusting module (300) according to the difference value of the bottom end coordinate of the centering rod (200) and the lofting point coordinate, the difference value meets the requirement, and lofting is completed.
CN202210904767.1A 2022-07-29 2022-07-29 Monocular camera-based AR vision lofting device and vision lofting method thereof Pending CN115183104A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210904767.1A CN115183104A (en) 2022-07-29 2022-07-29 Monocular camera-based AR vision lofting device and vision lofting method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210904767.1A CN115183104A (en) 2022-07-29 2022-07-29 Monocular camera-based AR vision lofting device and vision lofting method thereof

Publications (1)

Publication Number Publication Date
CN115183104A true CN115183104A (en) 2022-10-14

Family

ID=83521339

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210904767.1A Pending CN115183104A (en) 2022-07-29 2022-07-29 Monocular camera-based AR vision lofting device and vision lofting method thereof

Country Status (1)

Country Link
CN (1) CN115183104A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116624733A (en) * 2023-07-26 2023-08-22 河北建设集团天辰建筑工程有限公司 AR construction is with checking and accepting device that has multi-angle adjusting function

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116624733A (en) * 2023-07-26 2023-08-22 河北建设集团天辰建筑工程有限公司 AR construction is with checking and accepting device that has multi-angle adjusting function
CN116624733B (en) * 2023-07-26 2023-10-13 河北建设集团天辰建筑工程有限公司 AR construction is with checking and accepting device that has multi-angle adjusting function

Similar Documents

Publication Publication Date Title
US20120026322A1 (en) Method, tool, and device for determining the coordinates of points on a surface by means of an accelerometer and a camera
US10371785B2 (en) Polar axis calibration system, electronic polar scope, polar axis calibration control device, and equatorial instrument and telescope comprising the same
CN107525475B (en) A kind of object height measurement method
CN103822629B (en) Positioning system based on multi-directional polarized light navigation sensor and positioning method of positioning system
CN101813465B (en) Monocular vision measuring method of non-contact precision measuring corner
US20100302363A1 (en) Shade analysis device
CN112964252B (en) Positioning method and system based on inertial measurement unit and RTK receiver
CN109141215A (en) GNSS monitoring data processing method based on inclination angle sensing
CN115183104A (en) Monocular camera-based AR vision lofting device and vision lofting method thereof
CN103837161A (en) Automatic reading triaxial non-magnetic clinometer calibrator and reading method thereof
EP3524931A1 (en) Method for verifying accuracy of rtk tilt compensation measurement
CN103424124A (en) Nonmagnetic inertial navigation unit calibration method based on image measuring technologies
CN112129263B (en) Distance measurement method of separated mobile stereo distance measurement camera
CN106023207A (en) City component collecting method based on double panoramas of mobile measuring system
Dueholm Geologic photogrammetry using standard small-frame cameras
CN107806854A (en) A kind of plate aerial angle measurement method taken pictures based on unmanned plane with GPS information
CN104931021A (en) Crack multi-parameter observation device based on close-range photogrammetry
CN106405603A (en) Portable efficient long-distance accurate target positioning system and positioning method
CN104125390A (en) Method and device for locating spherical camera
CN107063180A (en) Portable Geotechnical Engineering dual-axis inclinometer
Fraser State of the art in industrial photogrammetry
CN104596485A (en) Method for measuring heights and widths of vertical target object in any position by using single picture of photographing superstation
CN109639337B (en) Graphic auxiliary satellite alignment method suitable for satellite communication equipment
CN112797908A (en) Geological profile thickness measuring device
CN207395710U (en) A kind of device for telemeasurement aerial angle

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination