阅读说明：本技术 一种基于激光测距仪的大地测绘方法 (Geodetic surveying and mapping method based on laser range finder ) 是由 张鸿洋 李子豪 包明远 李禹萱 于 2021-09-26 设计创作，主要内容包括：本发明公开了一种基于激光测距仪的大地测绘方法,具体涉及xx技术领域,包括：激光发射器、扫描器、摄像机、至少两个以上的转动马达和控制单元,步骤如下,S1,将激光发射器、扫描器、摄像机和转动马达均安装于行驶汽车的顶部；S2,两个转动马达分为水平转动马达和垂直转动马达,确保激光发射器和扫描器可以多角度多维度进行旋转。本方案利用激光发射器和扫描器可以在物体表面产生一条光纹,而图像上每一点的亮度反映了空间物体表面某点反射光的强度,而该点在图像上的位置则与空间物体表面相应点的几何位置有关,由此构建摄像机坐标系和世界坐标系,并计算出各点的空间坐标,又根据实际比例,从而计算出实际地形的尺寸,计算精确。(The invention discloses a geodetic surveying and mapping method based on a laser range finder, and particularly relates to the technical field of xx, wherein the geodetic surveying and mapping method comprises the following steps: the method comprises the following steps that (S1) the laser emitter, the scanner, the camera, at least two rotating motors and a control unit are all arranged on the top of a running automobile; and S2, dividing the two rotating motors into a horizontal rotating motor and a vertical rotating motor, and ensuring that the laser emitter and the scanner can rotate in multiple angles and multiple dimensions. The laser emitter and the scanner can generate a light pattern on the surface of an object, the brightness of each point on the image reflects the intensity of the reflected light of a certain point on the surface of the space object, and the position of the point on the image is related to the geometric position of the corresponding point on the surface of the space object, so that a camera coordinate system and a world coordinate system are constructed, the space coordinate of each point is calculated, the size of the actual terrain is calculated according to the actual proportion, and the calculation is accurate.)

1. A geodetic surveying method based on a laser rangefinder, comprising: laser emitter, scanner, camera, at least more than two rotation motors and control unit, the steps are as follows,

s1, mounting the laser emitter, the scanner, the camera and the rotating motor on the top of the running automobile;

s2, dividing the two rotating motors into a horizontal rotating motor and a vertical rotating motor to ensure that the laser emitter and the scanner can rotate in multiple angles and multiple dimensions;

s3, the laser emitter cooperates with the scanner to generate a light pattern with clear depth and height on the object surface, and the camera takes the light pattern picture in time;

s4, the camera guides the shot picture into a computer and respectively constructs a coordinate system with pixels as a unit and a coordinate system with millimeters as a unit;

s5, constructing a camera coordinate system and a world coordinate system;

s6, integrating the multi-angle three-dimensional figures to form a three-dimensional coordinate system model;

and S7, calculating the length, width, height and other numerical values according to the proportion of the picture to the actual object graph.

2. The laser rangefinder-based geodetic surveying method of claim 1 wherein the coordinate system in pixels of S4 consists of u and v axes, the millimeter coordinate system consists of x and y axes, in which an origin is defined at an intersection of an optical axis of the camera and an image plane, and in which any point coordinate is (u) in u and v coordinates₀,v₀) Each pixel having a size s at any point_x、s_yThen, the coordinates of any pixel in the image under the two coordinate systems have the following relationship:again, this coordinate and the matrix coordinate are expressed together as:

the inverse relationship can be written as:

3. the geodetic surveying method as claimed in claim 1, wherein the world coordinate system in S5 is defined by X_W,Y_W,Z_WAxis composition, the relation between the camera coordinate system and the world coordinate system in the S5 is described by a rotation matrix R and a translation vector t, and the homogeneous coordinates of any point P in the space under the world coordinate system and the camera coordinate system are respectively (X)_W,Y_W,Z_W1) T and (X)_t,Y_t,Z_t1) T, the following relationship exists:

4. a method of geodetic surveying based on laser rangefinders, according to claim 1, characterized in that the rotation matrix R is a 3 x 3 orthonormal identity matrix, the translation vector T is a three-dimensional translation vector, 0 ═ 0, (0, 0, 1) T, M₂Is a 4 x 4 matrix.

5. A method for geodetic surveying based on laser rangefinders according to claim 3, characterized in that in S5, point O is called the camera optical center, X_CAxis and Y_CThe axis being parallel to the x-and y-axes of the image, Z_CThe axis is the optical axis of the camera, which is perpendicular to the image plane, and the intersection point of the optical axis and the image plane is the origin of the image coordinate system, which is defined by the points O and X_C、Y_C、Z_CThe rectangular coordinate system of the axes is called the camera coordinate system O₁and/O is the focal length of the camera.

6. The laser rangefinder-based geomapping method of claim 1 wherein the pattern integration in S6 includes coarse integration and fine integration.

7. The geodetic surveying method as claimed in claim 1, wherein in said S7, the object size values are calculated from the three-dimensional coordinates, and the actual size values are calculated using the scale.

Technical Field

The invention relates to the technical field of geodetic surveying and mapping, in particular to a geodetic surveying and mapping method based on a laser range finder.

Background

The laser distance measuring instrument is an instrument for measuring the distance to a target by using a certain parameter of modulated laser. The laser range finder has a measuring range of 3.5-5000 meters, and is divided into a phase method range finder and a pulse method range finder according to a range finding method, wherein the pulse type laser range finder emits one or a sequence of short pulse laser beams to a target when in work, the laser beams reflected by the target are received by a photoelectric element, a timer measures the time from the emission to the reception of the laser beams, and the distance from an observer to the target is calculated. The phase-method laser range finder detects a distance by detecting a phase difference occurring when emitted light and reflected light propagate in a space. The laser range finder has light weight, small volume, simple operation, high speed and accuracy, and the error is only one fifth to one hundred times of that of other optical range finders.

According to the ground surveying and mapping method based on the laser range finder disclosed in patent No. CN 101995578A, a reflector system is added on a remote control aircraft, the reflector is controlled to rotate at a certain angle and frequency, when a ground laser beam strikes the reflector, the reflector can scan a large area of space on the ground, when the laser beam strikes the ground, the scattered light on the ground returns to a receiving system of a ground laser again, and the ground receiving system, an amplification processing system and surveying and mapping processing software finish high-precision surveying and mapping on the ground. Therefore, the ground area measured at one time is equal to the aerial height of the remote control aircraft, when the remote control aircraft is 100 meters and the reflector has a 45-degree corner, the ground with the diameter within 200 meters can be mapped, and the large-area ground shape mapping is realized; however, the invention does not disclose a specific method for measuring distance by using laser, and if the distance measurement is simply carried out by using the laser reflection principle, the efficiency is low, the applicable environment is narrow, and the practicability is not realized.

It is therefore desirable to provide a method of geodetic surveying based on laser rangefinders.

Disclosure of Invention

In order to overcome the above defects in the prior art, embodiments of the present invention provide a geodetic surveying method based on a laser range finder, so as to solve the problems of low efficiency and inaccurate result of the geodetic surveying method.

In order to solve the technical problems, the invention provides the following technical scheme: a method of geodetic surveying based on a laser rangefinder, comprising: laser emitter, scanner, camera, at least more than two rotation motors and control unit, the steps are as follows,

s1, mounting the laser emitter, the scanner, the camera and the rotating motor on the top of the running automobile;

s2, dividing the two rotating motors into a horizontal rotating motor and a vertical rotating motor to ensure that the laser emitter and the scanner can rotate in multiple angles and multiple dimensions;

s3, the laser emitter cooperates with the scanner to generate a light pattern with clear depth and height on the object surface, and the camera takes the light pattern picture in time;

s4, the camera guides the shot picture into a computer and respectively constructs a coordinate system with pixels as a unit and a coordinate system with millimeters as a unit;

s5, constructing a camera coordinate system and a world coordinate system;

s6, integrating the multi-angle three-dimensional figures to form a three-dimensional coordinate system model;

and S7, calculating the length, width, height and other numerical values according to the proportion of the picture to the actual object graph.

Preferably, the coordinate system in S4 with the unit of pixel is composed of u and v axes, the coordinate system in millimeter is composed of x and y axes, in the x and y coordinate systems, the origin is defined at the intersection of the optical axis of the camera and the image plane, and in the u and v coordinates, the coordinate of any point is (u) in the u and v coordinates₀,v₀) Each pixel having a size s at any point_x、s_yThen, the coordinates of any pixel in the image under the two coordinate systems have the following relationship:again, this coordinate and the matrix coordinate are expressed together as:

the inverse relationship can be written as:

preferably, the world coordinate system in S5 is represented by X_W,Y_W,Z_WAxis composition, the relation between the camera coordinate system and the world coordinate system in the S5 is described by a rotation matrix R and a translation vector t, and the homogeneous coordinates of any point P in the space under the world coordinate system and the camera coordinate system are respectively (X)_W,Y_W,Z_W1) T and (X)_t,Y_t,Z_t1) T, the following relationship exists:

preferably, the rotation matrix R is a 3 × 3 orthogonal identity matrix, the translation vector T is a three-dimensional translation vector, and 0 ═ 0, 0, 0, 1) T, M₂Is a 4 x 4 matrix.

Preferably, in S5, the point O is called the camera optical center, X_CAxis and Y_CThe axis being parallel to the x-and y-axes of the image, Z_CThe axis is the optical axis of the camera, which is perpendicular to the image plane, and the intersection point of the optical axis and the image plane is the origin of the image coordinate system, which is defined by the points O and X_C、Y_C、Z_CThe rectangular coordinate system of the axes is called the camera coordinate system O₁and/O is the focal length of the camera.

Preferably, the graphic integration in S6 includes coarse integration and fine integration.

Preferably, in S7, the object size value is calculated from the three-dimensional coordinates, and the actual size value is calculated using the ratio.

The technical scheme of the invention has the following beneficial effects:

the scheme uses a computer vision system, the computer vision system starts from an image acquired by a camera to calculate geometric information such as the position, the shape and the like of a three-dimensional environment object, a laser emitter and a scanner can be utilized to generate a light pattern on the surface of the object, the camera is responsible for taking a picture, the brightness of each point on the image reflects the intensity of the reflected light of a certain point on the surface of the space object, and the position of the point on the image is related to the geometric position of a corresponding point on the surface of the space object, so that a coordinate system and a world coordinate system of the camera are established, the space coordinate of each point is calculated, the size of the actual terrain is calculated according to the actual proportion, the calculation is accurate, and required instruments are few.

Drawings

FIG. 1 is a schematic illustration of the present invention;

FIG. 2 is a two-dimensional coordinate system diagram of the present invention.

Detailed Description

In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1, an embodiment of the present invention provides a method of geodetic surveying based on a laser rangefinder, comprising a laser transmitter, a scanner, a camera, at least two or more rotation motors and a control unit, the steps of,

s1, mounting the laser emitter, the scanner, the camera and the rotating motor on the top of the running automobile;

s2, dividing the two rotating motors into a horizontal rotating motor and a vertical rotating motor to ensure that the laser emitter and the scanner can rotate in multiple angles and multiple dimensions;

s3, the laser emitter cooperates with the scanner to generate a light pattern with clear depth and height on the object surface, and the camera takes the light pattern picture in time;

s4, the camera guides the shot picture into a computer and respectively constructs a coordinate system with pixels as a unit and a coordinate system with millimeters as a unit;

s5, constructing a camera coordinate system and a world coordinate system;

s6, integrating the multi-angle three-dimensional figures to form a three-dimensional coordinate system model;

and S7, calculating the length, width, height and other numerical values according to the proportion of the picture to the actual object graph.

Specifically, the control unit is electrically connected with the laser emitter, the scanner, the camera and the rotating motor respectively

Specifically, the installation and fixing of the device are required, then the location to be mapped is divided, such as a hillside, a building and the like, then laser scanning is performed on each individual object, a coordinate system is constructed, and the actual size is calculated.

Specifically, the light emitted by the laser emitter can be changed into a light plane by the scanner, and a solid curve (similar to a cross section) can be formed when the light falls on an object.

As shown in fig. 2, the coordinate system in S4 in units of pixels is composed of u and v axes, the coordinate system in units of millimeters is composed of x and y axes, the origin is defined at the intersection of the optical axis of the camera and the image plane in the x and y coordinate systems, and the coordinate of any point in the u and v coordinates is (u)₀,v₀) Each pixel having a size s at any point_x、s_yThen, the coordinates of any pixel in the image under the two coordinate systems have the following relationship:again, this coordinate and the matrix coordinate are expressed together as:

the inverse relationship can be written as:

wherein the world coordinate system in S5 is represented by X_W,Y_W,Z_WThe axis composition, the relation between the camera coordinate system and the world coordinate system in S5 is described by the rotation matrix R and the translation vector t, and the homogeneous coordinate of any point P in the space under the world coordinate system and the camera coordinate system is (X)_W,Y_W,Z_W1) T and (X)_t,Y_t,Z_t1) T, the following relationship exists:

wherein, the rotation matrix R is a 3 × 3 orthogonal unit matrix, the translation vector T is a three-dimensional translation vector, and 0 ═ 0, 0, 0, 1) T, M₂Is a 4 x 4 matrix.

Wherein, in S5, point O is called as camera optical center, X_CAxis and Y_CThe axis being parallel to the x-and y-axes of the image, Z_CThe axis is the optical axis of the camera, which is perpendicular to the image plane, and the intersection point of the optical axis and the image plane is the origin of the image coordinate system, which is defined by the points O and X_C、Y_C、Z_CThe rectangular coordinate system of the axes is called the camera coordinate system O₁and/O is the focal length of the camera.

Specifically, by the above equation, the coordinates of each point in the three-dimensional space and the distance between each point can be calculated.

Wherein, the graph integration in S6 includes coarse integration and fine integration.

Specifically, multi-angle photos are shot, the photos are integrated, the photos are roughly integrated, then some overlapped masking parts are removed, the fine integration effect is achieved, a plurality of photos can be made into complete graphs, and the complete graphs are placed on a three-dimensional world coordinate system.

In S7, an object size value is calculated from the three-dimensional coordinates, and an actual size value is calculated by a ratio.

The working effect of the invention is as follows:

the laser emitter and the scanner can generate a light pattern on the surface of an object, the camera is responsible for taking pictures, the brightness of each point on the image reflects the intensity of the reflected light of a certain point on the surface of the space object, the position of the point on the image is related to the geometric position of the corresponding point on the surface of the space object, a camera coordinate system and a world coordinate system are constructed, the laser emitter and the scanner are driven to rotate by the driving motor, multi-dimensional and multi-angle scanning is carried out, the three-dimensional lines are integrated, the final complete graph falls on the three-dimensional world coordinate system, then the space coordinates of each point can be calculated, and the size of the actual terrain can be calculated according to the actual proportion.

The points to be finally explained are: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be a direct connection, and "upper," "lower," "left," and "right" are only used to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed;

secondly, the method comprises the following steps: in the drawings of the disclosed embodiments of the invention, only the structures related to the disclosed embodiments are referred to, other structures can refer to common designs, and the same embodiment and different embodiments of the invention can be combined with each other without conflict;

and finally: the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that are within the spirit and principle of the present invention are intended to be included in the scope of the present invention.