阅读说明：本技术 一种基于激光和图像的空间测算方法 (Space measuring and calculating method based on laser and image ) 是由 付腾桂 柳庆祥 华建刚 于 2018-09-05 设计创作，主要内容包括：本发明涉及涉及安防监控,智能建筑,测绘等,尤其涉及一种空间测算方法。一种基于激光和图像的空间测算方法,它包括搭载在飞行器上的激光器和摄像机,并包括以下步骤：摄像机调试步骤,摄像机视场角的测算,垂直,对角视场角的测算都对应同一个公式,统称视场角为V＝arctan(X*M/N/2/L)*360/π；实际测算步骤,激光器对被被测目标发射一个光脉冲,由被测物体反射后激光模块接收,可以得到飞行时间T,2d＝cT,同时利用摄像机拍摄得到测算图像,测算图像中两点间的距离,此时d为已知,Va,Ha为已知,对于实际物体的长度Le有,Lh＝2*tan(Ha/2)*d*Reh/Rh,Lv＝2*tan(Va/2)*d*Rev/Rv,<Image he="65" wi="367" file="DDA0001789407260000011.GIF" imgContent="drawing" imgFormat="GIF" orientation="portrait" inline="no"></Image>本发明有快速,简便,实时,精确的优点。(The invention relates to security monitoring, intelligent building, surveying and mapping and the like, in particular to a space measuring and calculating method. A space measuring and calculating method based on laser and images comprises a laser and a camera carried on an aircraft, and comprises the following steps: the method comprises the following steps of debugging a camera, wherein the measurement of the field angle of the camera, the measurement of the vertical angle and the measurement of the diagonal field angle correspond to the same formula, and the field angle is generally called as V (arctan (X M/N/2/L) × 360/pi; in the actual measuring and calculating step, a laser emits a light pulse to a measured target, the light pulse is received by a laser module after being reflected by the measured target, the flight time T, 2d to cT can be obtained, a measured and calculated image is obtained by utilizing a camera, the distance between two points in the image is calculated, at the moment, d is known, Va and Ha are known, and as for the length Le of the actual object, Lh to 2 to tan (Ha/2) d to Reh/Rh, Lv to 2 to tan (Va/2) d to Rev/Rv, the invention has the advantages of rapidness, simplicity, convenience, real time and accuracy.)

1. A space measuring and calculating method based on laser and images is characterized by comprising a laser and a camera which are carried on an aircraft, and the method comprises the following steps:

the method comprises the following steps of camera debugging, camera angle measurement and calculation, wherein each camera can calculate a horizontal angle of view Ha, a vertical angle of view Va, a diagonal angle of view Da, a vertical angle of view and a diagonal angle of view under the current focal length, the measurement and calculation of the horizontal angle of view Ha, the vertical angle of view Va, the diagonal angle of view Da, the vertical angle and the diagonal angle of view correspond to the same formula, and the angle

V is arctan (X M/N/2/L) 360/pi, wherein

X is the resolution of the image, X is the horizontal resolution and the horizontal field of view is calculated, X is the vertical resolution and the vertical field of view is calculated,

l is the actual distance from the measured target to the lens, M is the actual distance between two points in the reference object, and N is the number of pixel points between the two points in the reference object in the image;

actually measuring and calculating, wherein the laser emits a light pulse to the measured target, the light pulse is received by a receiving module of the laser after being reflected by the measured object, the flight time T can be obtained,

c, wherein d is the actual distance between the camera and the actual measured object, T is the flight time, and c is the speed of light;

meanwhile, a camera is used for shooting to obtain a measured image, the distance between two points in the measured image is measured, at the moment, d is known, Va and Ha are known, and as for the length Le of an actual object,

Lh＝2*tan(Ha/2)*d*Reh/Rh,

Lv＝2*tan(Va/2)*d*Rev/Rv,

Rh is the horizontal resolution of the image, Rv is the vertical resolution of the image, Reh is the horizontal pixel between two actual points in the image, and Rev is the number of vertical pixels between two points in the image;

lh is the actual distance in the horizontal direction and Lv is the actual distance in the vertical direction.

Technical Field

The invention relates to security monitoring, intelligent building, surveying and mapping and the like, in particular to a space measuring and calculating method.

Background

With the development of the unmanned aerial vehicle technology, various identification and mapping functions are integrated on the unmanned aerial vehicle. Generally, a laser, a camera, or the like is used to collect data, and spatial data is obtained through various calculation methods. But because unmanned aerial vehicle airspeed is high, the data of gathering are difficult to in time obtain data because the operation is complicated.

Disclosure of Invention

The invention aims to solve the problems in the prior art and provides a space measuring and calculating method based on laser and images. The invention has the advantages of rapidness, simplicity, convenience, real time and accuracy.

The invention is realized in such a way, and the space measuring and calculating method based on the laser and the image is characterized by comprising a laser and a camera which are carried on an aircraft, and the method comprises the following steps:

the method comprises the following steps of camera debugging, camera angle measurement and calculation, wherein each camera can calculate a horizontal angle of view Ha, a vertical angle of view Va, a diagonal angle of view Da, a vertical angle of view and a diagonal angle of view under the current focal length, the measurement and calculation of the horizontal angle of view Ha, the vertical angle of view Va, the diagonal angle of view Da, the vertical angle and the diagonal angle of view correspond to the same formula, and the angle

V is arctan (X M/N/2/L) 360/pi, wherein

X is the resolution of the image, X is the horizontal resolution and the horizontal field of view is calculated, X is the vertical resolution and the vertical field of view is calculated,

l is the actual distance from the measured target to the lens, M is the actual distance between two points in the reference object, and N is the number of pixel points between the two points in the reference object in the image;

in the actual measuring and calculating step, the laser emits a light pulse to the measured target, the light pulse is reflected by the measured target and then received by the laser module, the flight time T can be obtained,

c, wherein d is the actual distance between the camera and the actual measured object, T is the flight time, and c is the speed of light;

meanwhile, a camera is used for shooting to obtain a measured image, the distance between two points in the measured image is measured, at the moment, d is known, Va and Ha are known, and as for the length Le of an actual object,

Lh＝2*tan(Ha/2)*d*Reh/Rh,

Lv＝2*tan(Va/2)*d*Rev/Rv,

wherein

Rh is the horizontal resolution of the image, Rv is the vertical resolution of the image, Reh is the horizontal pixel between two actual points in the image, Rev is the number of vertical pixels between two points in the image

Lh is the actual distance in the horizontal direction and Lv is the actual distance in the vertical direction.

The laser can emit light pulse, and after the light pulse is reflected by the target to be measured, the actual distance of the measured object can be accurately calculated through the light speed and the flight time. The actual length, width and height of various real objects in the current image can be accurately measured and calculated through the angle of view and the object distance of the image. The method can be used for remote monitoring and real-time measurement and calculation in the fields of construction sites, ports, airport shipping, railway traffic, mountain bridges and the like.

Drawings

Fig. 1 is a schematic diagram of the principle of the present invention.

Detailed Description

As shown in fig. 1, the space estimation method based on laser and image of the present invention is characterized in that it includes a laser and a camera 1 mounted on an aircraft, and includes the following steps:

the method comprises the following steps of camera debugging, camera angle measurement and calculation, wherein each camera can calculate a horizontal angle of view Ha, a vertical angle of view Va, a diagonal angle of view Da, a vertical angle of view and a diagonal angle of view under the current focal length, the measurement and calculation of the horizontal angle of view Ha, the vertical angle of view Va, the diagonal angle of view Da, the vertical angle and the diagonal angle of view correspond to the same formula, and the angle

V is arctan (X M/N/2/L) 360/pi, wherein

X is the resolution of the image, X is the horizontal resolution and the horizontal field of view is calculated, X is the vertical resolution and the vertical field of view is calculated,

l is the actual distance from the measured target to the lens, M is the actual distance between two points in the reference object, and N is the number of pixel points between the two points in the reference object in the image;

in the actual measuring and calculating step, the laser emits a light pulse to the measured target, the light pulse is reflected by the measured target and then received by the laser module, the flight time T can be obtained,

c, wherein d is the actual distance between the camera and the actual measured object, T is the flight time, and c is the speed of light;

meanwhile, a camera is used for shooting to obtain a measured image, the distance between two points in the measured image is measured, at the moment, d is known, Va and Ha are known, and as for the length Le of an actual object,

Lh＝2*tan(Ha/2)*d*Reh/Rh,

Lv＝2*tan(Va/2)*d*Rev/Rv,

wherein

Rh is the horizontal resolution of the image, Rv is the vertical resolution of the image, Reh is the horizontal pixel between two actual points in the image, Rev is the number Lh of the vertical pixels between two points in the image, which is the actual distance in the horizontal direction, and Lv is the actual distance in the vertical direction.