CN1731087A - Digital image pick-up and laser system for measuring three-dimensional space and application thereof - Google Patents
Digital image pick-up and laser system for measuring three-dimensional space and application thereof Download PDFInfo
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- CN1731087A CN1731087A CN 200510090494 CN200510090494A CN1731087A CN 1731087 A CN1731087 A CN 1731087A CN 200510090494 CN200510090494 CN 200510090494 CN 200510090494 A CN200510090494 A CN 200510090494A CN 1731087 A CN1731087 A CN 1731087A
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- 238000005259 measurement Methods 0.000 claims abstract description 28
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Abstract
The invention relates to a digital camera and laser system for measuring three dimensional space and uses thereof, which comprises: at least one laser range finder, a computer, at least one set of CCD camera and image gathering card which is separately connected with each set of CCD camera, wherein the laser range finder incorporates step motor which controls the laser range finder to rotate with X-shaft and Y-shaft and a step motor which controls the laser range finder to rotate with Z-shaft; the step motor rotates with X-shaft and Y-shaft, the step motor rotates with Z-shaft and the laser range finder are separately connected with an input end of the receiving port; the output end of the receiving port and the image gathering card are separately connected with the computer. The invention uses laser to scan all model with high speed and uses CCD to record the image, which can finish all the measurement of the large model topography and acquires precise measuring result.
Description
Technical field
The present invention relates to a kind of three-dimensional space measurement system, particularly related to three-dimensional digital camera of a kind of measurement and laser system.
Background technology
At present, topographical surveying waterborne mainly is that the method for utilizing spirit-leveling instrument to add manual measurement is carried out, and promptly by manually holding up scale in measurement point, reads the elevation of measurement point by spirit-leveling instrument.Time-consuming, the effort of this method need two people (people holds up chi, people's reading) at least for large-sized model, and precision is not high, manually holds up chi to tilt easily, and horizontal location is inaccurate, and the subjective factor influence is very big.This method needs pointwise to measure one by one, has surveyed a common test group time so will spend several days ability.
China utility model patent ZL03263877.9 discloses a kind of laser ranging engineering unwrapping wire measuring instrument, and it uses this instrument to solve the problem of the line measurement distance of dangerous area.And digital camera is generally used for monitoring real-time dynamic menu.
The objective of the invention is to overcome above-mentioned defective, in conjunction with the advantage separately of digital camera and laser ranging, and a kind of automaticity height be provided, save time, three-dimensional digital camera is measured in the labour-saving and laser system and application thereof.
Summary of the invention
Three-dimensional digital camera of a kind of measurement of the present invention and laser system, it comprises: at least one laser range finder and a computing machine, wherein: it also comprises: at least one group of ccd video camera, the image pick-up card that links to each other with every group of ccd video camera respectively, the control laser range finder is housed around the stepper motor of X-axis or Y-axis rotation and the stepper motor that rotates around the Z axle on the laser range finder, stepper motor around X-axis or Y-axis rotation, stepper motor around the rotation of Z axle links to each other with the input end of a Wiring port respectively with laser range finder, and the Wiring port output terminal links to each other with the aforementioned calculation machine respectively with image pick-up card.
Three-dimensional digital camera of a kind of measurement of the present invention and laser system, wherein: the group number of described ccd video camera is identical with the number of laser range finder, the number of image pick-up card and the number of Wiring port respectively.
Three-dimensional digital camera of a kind of measurement of the present invention and laser system, wherein: the group number of described ccd video camera is the 1-30 group.
Three-dimensional digital camera of a kind of measurement of the present invention and laser system, wherein: the number of described every group of ccd video camera is 1-30.
Three-dimensional digital camera of a kind of measurement of the present invention and laser system, wherein: the number of the ccd video camera that described every group of ccd video camera is included is identical.
Three-dimensional digital camera of a kind of measurement of the present invention and laser system, wherein: the number of the ccd video camera that described every group of ccd video camera is included is inequality.
Three-dimensional digital camera of a kind of measurement of the present invention and laser system, wherein: with this systematic survey bed model, each ccd video camera of every group of ccd video camera is placed on the different parts of bed model respectively, it receives the hot spot of laser range finder directive bed model corresponding with it, landform to bed model X-axis and Y direction is monitored, laser range finder itself is monitored the landform of bed model Z-direction, ccd video camera and laser range finder send resulting signal to computing machine, along with around the stepper motor of X-axis or Y-axis rotation with around the rotation that does not stop of the stepper motor of Z axle rotation, repeat above-mentioned measuring process, draw the locus of a plurality of different hot spots, by many groups ccd video camera, a plurality of image pick-up cards and a plurality of laser range finder make up, and measure the three-dimensional graph of whole bed model.
The present invention compared with prior art has following advantage:
Three-dimensional digital camera of measurement of the present invention and laser system have made up digital picture and laser technology, scan whole model with laser high-speed, the CCD document image, through the system program analysis, only need in several hours, just can finish whole measurements of large-scale model landform and obtain accurate measurement result, and the application native system can be analyzed the variation of becoming silted up of dashing in riverbed apace, from the gound-mapping of three-dimensional, more can check test front and back change of topography intuitively, fill up the blank of river conservancy worker's movable bed test landform automatized three-dimensional Measurement and analysis method.
Description of drawings
Fig. 1 is the synoptic diagram of three-dimensional digital camera of measurement of the present invention and laser system.
Embodiment
With reference to Fig. 1, three-dimensional digital camera of measurement of the present invention and laser system comprise: at least one group of ccd video camera, the image pick-up card 1 that links to each other with every group of ccd video camera respectively, 2......m, one and image pick- up card 1,2......m computing machine 1001 and at least one laser range finder 101 of linking to each other, 201......m01, laser range finder 101,201......m01 on be equipped with control laser range finder 101,201......m01 stepper motor 103 around X-axis or Y-axis rotation, 203......m03 with around the stepper motor 102 of Z axle rotation, 202......m02, stepper motor 103 around X-axis or Y-axis rotation, 203......m03, stepper motor 102 around the rotation of Z axle, 202......m02 and laser range finder 101,201......m01 respectively with a Wiring port 104, the input end of 204......m04 links to each other, Wiring port 104, the output terminal of 204......m04 links to each other with aforementioned calculation machine 1001.The group number of ccd video camera respectively with laser range finder 101, the number of 201......m01, image pick-up card 1, the number of 2......m and Wiring port 104, the number of 204......m04 is identical.
According to different demands, the group number of ccd video camera and the number of every group of ccd video camera are can be optional, in general, the group number of ccd video camera is the 1-30 group, the number of every group of ccd video camera is 1-30, the number of the ccd video camera that every group of ccd video camera is included can be identical, also can be different.
Using the present invention to measure three-dimensional digital camera and laser system, to measure the step of bed model as follows: the different parts that each ccd video camera of every group of ccd video camera is placed on bed model respectively, it receives laser range finder 101 corresponding with it, 201......m01 the hot spot of directive bed model, landform to bed model X-axis and Y direction is monitored, laser range finder 101,201......m01 itself the landform of bed model Z-direction is monitored, ccd video camera and laser range finder 101,201......m01 send resulting signal to computing machine 1001, along with stepper motor 103 around X-axis or Y-axis rotation, 203......m03 with around the stepper motor 102 of Z axle rotation, 202......m02 the rotation that does not stop, repeat above-mentioned measuring process, draw the locus of a plurality of different hot spots, by many groups ccd video camera, a plurality of image pick-up cards and a plurality of laser range finder make up, and can measure the three-dimensional graph of whole bed model.
Principle of work of the present invention is as follows:
As can be seen from Figure 1: one a group of ccd video camera and an image pick-up card and a laser range finder are complementary, laser range finder is launched laser and is shone and want on the bed model, ccd video camera receives the hot spot that shines on the bed model, X-axis and Y direction to the bed model plane are measured, and laser range finder itself can record the position of the Z-direction of hot spot, laser range finder, the result that ccd video camera will record sends computing machine to, processing through computing machine, can draw the locus of a hot spot, along with around the stepper motor of X-axis or Y-axis rotation with around the rotation that does not stop (rotation of stepper motor is controlled by computing machine) of the stepper motor of Z axle rotation, the facula position of laser range finder emitted laser on bed model constantly changes, the position of measuring the X-axis and the Y direction of different bed model thus with its ccd video camera that is complementary, and laser range finder records the position of the Z-direction of hot spot, so system just can measure the locus of a plurality of different hot spots.By many groups ccd video camera, a plurality of image pick-up card and the combination of a plurality of laser range finder, can measure the three-dimensional graph of whole bed model.
The installment work of system comprises fixed cameras, laser instrument and controller thereof, after the installation, in the visual field of each video camera, find two calibration points on the model, utilize the model coordinate of this point and the transformational relation of volume coordinate and image coordinate that the image pixel coordinate is set up each video camera.
Just can measure the specified measurement zone, interface that the user can provide by system after the installation.Stepper motor drives the laser instrument rotation makes hot spot drop on the reference position of measured zone.The image of camera acquisition hot spot region also is transferred to calculator memory.Because of laser ranging needs the regular hour, system adopts the multithreading mode of operation, improves the operating rate of system.Therefore after image was transferred to calculator memory, system did not handle at once, but the starting laser range finder begins the space length of Laser Measurement to hot spot; In ranging process, system is written into image, is that a window is opened at the center with the facula position of setting, value in the window is searched for the required threshold value of binaryzation automatically behind Fourier transform, find the accurate position and the preservation of hot spot, link laser instrument, call in the distance value preservation that Laser Measuring gets.Obtaining behind the distance value of laser at once, control step motor mobile spot begins images acquired then to next measurement point.Repeat above-mentioned step, finish whole measured zone up to scanning.System is according to the volume coordinate that measures, the three-dimensional measurement result that demonstrates, and the contour map that draws, final result preserves into file in the plain text mode, calls after being convenient to.Simultaneously, can export the graphical format file of CAD compatibility.
More than describing is explanation of the invention, is not that institute of the present invention restricted portion is referring to claim to the qualification of invention, and under the situation of spirit of the present invention, the present invention can do any type of modification.
Claims (7)
1. measure three-dimensional digital camera and laser system for one kind, it comprises: at least one laser range finder (101,201......m01) and a computing machine (1001), it is characterized in that: it also comprises: at least one group of ccd video camera, the image pick-up card (1 that links to each other with every group of ccd video camera respectively, 2......m), laser range finder (101,201......m01) on be equipped with control laser range finder (101,201......m01) around the stepper motor (103 of X-axis or Y-axis rotation, 203......m03) and around the stepper motor (102 of Z axle rotation, 202......m02), stepper motor (103 around X-axis or Y-axis rotation, 203......m03), around the stepper motor of Z axle rotation (102,202......m02) and laser range finder (101,201......m01) respectively with a Wiring port (104,204......m04) input end link to each other, Wiring port (104,204......m04) output terminal and image pick-up card (1,2......m) link to each other with aforementioned calculation machine (1001) respectively.
2. three-dimensional digital camera of a kind of according to claim 1 measurement and laser system, it is characterized in that: the group number of described ccd video camera respectively with laser range finder (101,201......m01) number, image pick-up card (1,2......m) number and Wiring port (104, number 204......m04) is identical.
3. as three-dimensional digital camera of a kind of measurement and laser system as described in the claim 2, it is characterized in that: the group number of described ccd video camera is the 1-30 group.
4. as three-dimensional digital camera of a kind of measurement and laser system as described in the claim 3, it is characterized in that: the number of described every group of ccd video camera is 1-30.
5. as three-dimensional digital camera of a kind of measurement and laser system as described in the claim 4, it is characterized in that: the number of the ccd video camera that described every group of ccd video camera is included is identical.
6. as three-dimensional digital camera of a kind of measurement and laser system as described in the claim 4, it is characterized in that: the number of the ccd video camera that described every group of ccd video camera is included is inequality.
7. as a kind of application of measuring three-dimensional digital camera and laser system as described in the claim 6, it is characterized in that: with this systematic survey bed model, each ccd video camera of every group of ccd video camera is placed on the different parts of bed model respectively, it receives laser range finder (101 corresponding with it, 201......m01) hot spot of directive bed model, landform to bed model X-axis and Y direction is monitored, laser range finder (101,201......m01) itself the landform of bed model Z-direction is monitored, ccd video camera and laser range finder (101,201......m01) send resulting signal to computing machine (1001), along with stepper motor (103 around X-axis or Y-axis rotation, 203......m03) and around the stepper motor (102 of Z axle rotation, 202......m02) the rotation that does not stop, repeat above-mentioned measuring process, draw the locus of a plurality of different hot spots, by many groups ccd video camera, a plurality of image pick-up cards and a plurality of laser range finder make up, and measure the three-dimensional graph of whole bed model.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200510090494 CN1731087A (en) | 2005-08-17 | 2005-08-17 | Digital image pick-up and laser system for measuring three-dimensional space and application thereof |
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| CN 200510090494 CN1731087A (en) | 2005-08-17 | 2005-08-17 | Digital image pick-up and laser system for measuring three-dimensional space and application thereof |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101914890A (en) * | 2010-08-31 | 2010-12-15 | 中交第二公路勘察设计研究院有限公司 | Airborne laser measurement-based highway reconstruction and expansion investigation method |
| CN102023003A (en) * | 2010-09-29 | 2011-04-20 | 清华大学 | Unmanned helicopter three-dimensional positioning and mapping method based on laser detection and image recognition |
| CN101408534B (en) * | 2008-10-28 | 2011-12-07 | 山东科技大学 | Indoor rail fixing follow-scene measuring system |
| CN112986019A (en) * | 2021-02-01 | 2021-06-18 | 北京工业大学 | Fatigue mechanics test overall process data acquisition system |
-
2005
- 2005-08-17 CN CN 200510090494 patent/CN1731087A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101408534B (en) * | 2008-10-28 | 2011-12-07 | 山东科技大学 | Indoor rail fixing follow-scene measuring system |
| CN101914890A (en) * | 2010-08-31 | 2010-12-15 | 中交第二公路勘察设计研究院有限公司 | Airborne laser measurement-based highway reconstruction and expansion investigation method |
| CN101914890B (en) * | 2010-08-31 | 2011-11-16 | 中交第二公路勘察设计研究院有限公司 | Airborne laser measurement-based highway reconstruction and expansion investigation method |
| CN102023003A (en) * | 2010-09-29 | 2011-04-20 | 清华大学 | Unmanned helicopter three-dimensional positioning and mapping method based on laser detection and image recognition |
| CN112986019A (en) * | 2021-02-01 | 2021-06-18 | 北京工业大学 | Fatigue mechanics test overall process data acquisition system |
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