CN103604411A - Automatic theodolite collimation method based on image recognition - Google Patents
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses an automatic theodolite collimation measurement method based on image recognition. A measurement device of the method comprises an electronic theodolite internally provided with a drive motor, a miniature measurement camera and a fixed fixture, wherein the automatic collimation measurement of the electronic theodolite is guided by the miniature measurement camera, a transformational relation between an image plane coordinate system and a theodolite eyepiece reticule observation coordinate system and a relation between an electronic theodolite deflection angle quantity and a miniature measurement camera pixel quantity when a focal length is in a collimation observation state are calibrated, and collimation return light and an electronic theodolite eyepiece reticule and a deviation relation are automatically extracted until collimation is achieved. According to the automatic theodolite collimation measurement method adopted by the invention, an image recording and analyzing method is used for replacing a conventional human eye observation method, so that the measurement stability in the case of long-term measurement is ensured, and the measurement work efficiency is increased.
Description
Technical field
The invention belongs to commercial measurement field, be specifically related to a kind of method of measuring for transit autocollimation.
Background technology
Precision measure is the important guarantee link of satellite and satellite equipment reliability service.In order to guarantee normal flight and the work of satellite, must be when the general assembly of ground to the construction profile of satellite with there is the instrument and equipment of accuracy requirement to carry out geometric accuracy measurement, instrument as responsive in attitudes such as the earth sensor on satellite, the sun and star sensor, inertia devices; The thrust assemblies such as 10N thruster, 490N engine; The sensing such as antenna, camera communication facilities.The optics prism square of having been demarcated on the general equipment under test of measured equipment characterizes, and the coordinate system coordinate axis of tested instrument is represented by the reflecting surface normal of optics prism square.Current measuring method is to adopt high-precision electronic theodolite to carry out artificial alignment measurement.Transit is built-in with the cross light source that same eyepiece observation crosshair overlaps, during measurement, first the lens cone for telescope of transit is focused to infinite distance state, utilize cross light source to irradiate tested cube of minute surface and by eyepiece, observe the back light of minute surface, operation transit makes back light overlap with eyepiece crosshair, now the observation optical axis of transit (cross light source direction of illumination) is consistent with minute surface normal direction, by the level of pair warp and weft instrument and the data recording of vertical angle, completes the measurement to minute surface normal direction.
Real-time, noncontact, maneuverability and the high precision of high-precision electronic transit survey technology improved speed and the precision of spacecraft accurate measurement significantly, for current spacecraft accurate measurement task, completes smoothly the equipment support that provides important.But current measuring method mainly depends on artificial observation and operation, the function of its built-in CD-ROM drive motor is not used effectively, the in the situation that of long-time, remote, multitask, measuring error can become large because of the observational error of human eye, measure efficiency simultaneously and also can reduce.Particularly, along with the continuous increase of model development task, often all can occur the few large task situation of workload of people, the observational error of human eye also becomes an important step that affects the measuring precision gradually.Such as workman is after continuous coverage surpasses 4 hours, it is large that the observational error of human eye can become, when overtime work is measured especially at night, workman can cause visual impairment because of visual fatigue, the pointing accuracy of human eye will be lower, this all will cause the reduction of measuring efficiency and measuring accuracy, even can delay the progress of task.
And in recent years, the advantages such as detection speed is fast, measuring accuracy is high owing to having, non-cpntact measurement, image sensor technologies realizing Site Detection, improve production automation degree and realize the aspects such as supersize detection and show very powerful development prospect.Vision guide measuring technique can overcome the observational error of human eye, improves to a great extent the efficiency of work, becomes the focus and emphasis of research and development in domestic and international fields of measurement.
But these existing control modes all cannot be accomplished servo-actuated control, reflect truly assembling demand and carry out real-time control not.
Summary of the invention
Automatic transit alignment measurement method based on image recognition of the present invention, in order to monitor by visual image pair warp and weft instrument alignment measurement state, that utilizes image can quantitative analysis characteristic instruct transit to carry out autocollimation, finally realizing the autocollimation of transit measures, when improving measurement efficiency, eliminate the observational error of human eye, guarantee even to improve the measuring accuracy of transit.
Technical scheme of the present invention is as follows:
Automatic transit alignment measurement method based on image recognition, its measuring equipment is comprised of the electronic theodolite of built-in CD-ROM drive motor, miniature measurement camera and fixing tool, by miniature measurement camera, electronic theodolite is carried out to the guiding of autocollimation measurement, comprise the steps:
(1) fixing tool is connected and fixed miniature measurement camera with electronic theodolite, and miniature measurement camera can carry out unobstructed observation to the measurement visual field of electronic theodolite by electronic theodolite lens barrel;
(2) calibrating miniature is measured the spatial relationship of camera and transit as the work inner parameter of system, comprises that successively transformational relation (deflection factor and translational movement) between being of the plane of delineation coordinate system of the captured image of camera and transit eyepiece crosshair observation coordinate and focal length survey under state (focal length state when transit collimates) scale-up factor (planche cross silk direction scale-up factor and vertical direction scale-up factor) of pixel deviator in electronic theodolite angle deviator and miniature measurement image shot by camera in infinite distance;
A. transformational relation (deflection factor and the translational movement) scaling method between the plane of delineation coordinate system of the captured image of camera and transit eyepiece crosshair observation coordinate system is:
If coordinate system XOY is the frame of reference that transit eyepiece crosshair characterizes, xoy is the photo coordinate system of guiding camera, and two coordinates are isoplanar rotation and translation linear transformation in proportion, establish this transformational relation to be
X=p×x+q，Y=p×y+q （1）
In formula, (X, Y) is the coordinate figure of impact point in the frame of reference, and the frame of reference is extracted by the transit crosshair in image, and the distance (pixel count metering) of calculating impact point to two coordinate axis is this coordinate figure; (x, y) be the coordinate figure of same impact point in photo coordinate system, photo coordinate system be take picture centre as true origin, parallel pixel orientation and vertical pixel orientation form coordinate axis, and the distance (pixel count metering) of calculating impact point to two coordinate axis is this coordinate figure; P, q are transformational relation coefficient;
In image, get arbitrarily two known point A, B, if the coordinate figure of A in the frame of reference is (A1, A2), coordinate figure in photo coordinate system is (a1, a2), and the coordinate figure of B in reference index system is (B1, B2), coordinate figure in photo coordinate system is (b1, b2), can solve the transformational relation of the frame of reference and photo coordinate system by these four groups of coordinate figures;
B. focal length electronic theodolite deflection angle tolerance under collimation observer state with the scaling method of the relation of miniature measurement camera pixel quantity is:
The electronic theodolite that is fixedly connected with miniature measurement camera is stable to state 1, the level angle of transit and vertical angle under recording status 1 condition, the image of the miniature measurement camera under recording status 1 condition, electronic theodolite is carried out to level angle and vertical angle deflection, be stable at state 2, the level angle of transit and vertical angle under recording status 2 conditions, the image of the miniature measurement camera under recording status 2 conditions;
The amount of pixels of image shift in computing mode 1 and state 2, by the demarcation relation in (1), this side-play amount dress is changed to two offset components under electronic theodolite observation coordinate system, corresponding to the level angle of electronic theodolite state 1 and state 2 and the deviator of vertical angle, calculate respectively the deflection angle tolerance of the electronic theodolite on two change in coordinate axis direction under electronic theodolite observation coordinate system with the Relation Parameters of miniature measurement camera pixel departure; In the position apart from the different deflection angles of transit collimation axis, the deflection angle tolerance of electronic theodolite is not linear relationship completely with the relation of miniature measurement camera pixel departure, the parameter calibration method distributing based on image lattice, be about to some regions that image is divided into N * M, each region is once demarcated according to the method in step (2), and the parameter of corresponding region is selected in the region that is positioned at image according to target in the time need to using this parameter according to principle nearby;
(3) automatically extract collimation back light and electronic theodolite eyepiece crosshair and deviation relation
Utilize collimation back light and electronic theodolite eyepiece crosshair shape facility in image, by the method based on gray analysis, in image, extract the centre coordinate of cross back light and the coordinate of electronic theodolite eyepiece crosshair, calculate the two pixel departure in image; By the Relation Parameters of demarcating in step (2), pixel departure is converted into the amount of angular deviation of transverse axis and vertical axes under electronic theodolite observation coordinate system;
(4) amount of angular deviation of calculating in (3) is sent to electronic theodolite with instruction type, drive transit to carry out deflection according to set angle, until complete collimation.
In such scheme, the electronic theodolite of employing is the electronic theodolite that has autocollimation function and be built-in with CD-ROM drive motor, can directly adopt ripe electronic theodolite product;
In such scheme, the miniature measurement camera of employing is the miniature measurement camera that focuses, and can directly adopt ripe measurement camera product;
In such scheme, the fixing tool adopting is for coordinating the frock of eyepiece and miniature measurement camera size, when miniature measurement camera can be fixed on to transit eyepiece position, by parallel fixing mode guarantee the optical axis of miniature measurement camera and the collimation axis of transit basically identical.
The transit autocollimation method based on image recognition that the present invention adopts, the method by the alternative traditional human eye observation of the method for recording image and analysis, has guaranteed the Measurement sensibility in long-time measurement situation, has improved the work efficiency of measuring.
Accompanying drawing explanation
Between the plane of delineation coordinate system that Fig. 1 is the captured image of camera in enforcement autocollimation procedure of the present invention and transit eyepiece crosshair observation coordinate system, transformational relation is demarcated schematic diagram.Wherein the XOY of solid line signal is the frame of reference that transit eyepiece crosshair characterizes, the photo coordinate system of the xoy of dotted line signal for being determined by the plane of delineation.
Fig. 2 is about to some regions that image is divided into N * M, the schematic diagram that each grid points is demarcated under collimation observer state according to focal length for implementing the parameter calibration method based on image lattice distribution in autocollimation procedure of the present invention.Wherein white point is image center, the grid points that black color dots is image.
Fig. 3 is the overall schematic of the transit autocollimation measuring system based on image recognition.
Wherein, 1 is transit eyepiece; 2 is fixing tool; 3 is miniature measurement camera.
Embodiment
What below introduce is the embodiment as content of the present invention, below by embodiment, described content of the present invention is further illustrated.Certainly, describing following embodiment is only the content of example different aspect of the present invention, and should not be construed as the restriction scope of the invention.
As shown in Figure 3, the equipment that automatic transit alignment measurement method based on image recognition of the present invention is used comprises miniature measurement camera, this miniature measurement camera is fixed on the eyepiece place of transit by fixing tool, adopt the mode of screw clamping to fix between miniature measurement camera and fixing tool and between fixing tool and eyepiece.Measurement lens barrel by electronic theodolite is observed the visual field of electronic theodolite, carries out successively two kinds of demarcation while measuring, and embodiment is as follows:
(1) transformational relation (deflection factor and the translational movement) scaling method between the plane of delineation coordinate system of the captured image of camera and transit eyepiece crosshair observation coordinate system is:
If p, q are transformational relation coefficient.Be illustrated in figure 1 the image that camera is taken, adopt artificial method of drawing to choose on crosshair 2 with mouse and obtain planche cross silk thread and vertical cross silk thread, record point on center of reticule and planche cross silk and the vertical location of pixels of the point on crosshair in image.The central point of image is o, and the line direction of Pixel arrangement is ox, and the column direction of Pixel arrangement is oy, and transit eyepiece center of reticule is shown as O in image, and planche cross silk direction is OX, and vertically crosshair direction is OY.If coordinate system XOY is the frame of reference that crosshair characterizes, xoy is the plane of delineation coordinate system of guiding camera.Two coordinates are rotation and the translation in isoplanar, and mathematical relation is linear relationship, establish this transformational relation and are
X=p×x+q，Y=p×y+q （1）
In formula, (X, Y) is the pixel coordinate value of impact point in the frame of reference, and the frame of reference is extracted by the transit crosshair in image, and the distance (pixel count metering) of calculating impact point to two coordinate axis is this coordinate figure; (x, y) be the pixel coordinate value of same impact point in plane of delineation coordinate system, photo coordinate system be take picture centre as true origin, parallel pixel orientation and vertical pixel orientation form coordinate axis, and the distance (pixel count metering) of calculating impact point to two coordinate axis is this coordinate figure.
In image, get arbitrarily an A, establish the coordinate figure of A in the frame of reference for (A1, A2), the coordinate figure in photo coordinate system is (a1, a2).There is equation;
A1=p * a1+q and A2=p * a2+q;
Solving equation can obtain: p=(A1-A2)/and (a1-a2), q=A1-(A1-A2) */(a1-a2).
(2) focal length is surveyed under state (focal length state when transit collimates) the scale-up factor scaling method of pixel deviator in electronic theodolite angle deviator and miniature measurement image shot by camera and is in infinite distance:
If K is the scale-up factor in horizontal direction, K ' is the scale-up factor on vertical direction.In image, be provided with C, D at 2, the pixel coordinate value of C point under xoy coordinate system is (C, D), the pixel coordinate value of D point under xoy coordinate system is (c, d), through the transformational relation of coordinate system XOY and xoy, can obtain the pixel coordinate value of C point under XOY coordinate system is (C ', D '), the pixel coordinate value of D point under XOY coordinate system is (c ', d ').When transit aims at C point, the angle of transit is shown as (α (horizontal angle), β (vertical angle)), and when transit aims at D point, the angle of transit is shown as (α ' (horizontal angle), β ' (vertical angle)).
The Proportional coefficient K in horizontal direction is: K=| α '-α |/| C '-C|; (while aiming at D point as transit, transit has turned over level angle zero point, K=| α '+360-α |/| C '-C|; )
Proportional coefficient K on vertical direction ' being: K '=| β '-β |/| D '-D|.
Because the deflection angle tolerance of the position electronic theodolite apart from the different deflection angles of transit collimation axis is not linear relationship completely with the relation of miniature measurement camera pixel departure, therefore adopt the parameter calibration method distributing based on image lattice, as Fig. 2, image is divided into some regions of N * M according to the ranks direction of image, wherein white initial point is picture centre, defining other ranks intersection points (black color dots) is (D1, D2 ...) be selected in the 2. timing signal that carries out (2) and choose image center position C, choose successively (D1, D2 ...) demarcate for D point, draw at each D1, D2 ... Proportional coefficient K in the horizontal direction of point and the Proportional coefficient K on vertical direction '.
(3) under measuring state, by the alignment measurement visual field of miniature measurement camera pair warp and weft instrument, carry out recording image, in document image, adopt steger method to cut apart the collimation cross light in image, extract horizontal center line point and the vertical centerline points of the collimation back light of electronic theodolite, again by the straight line extracting method collimation back light center line based on Hough conversion, by intersection calculation, obtain the pixel coordinate value (m of center of reticule under image coordinate system xoy, n), calculate and (m, n) the most approaching ranks intersection point (D1 of distance, D2 ...), if the scale-up factor in this intersection point place horizontal direction is K, scale-up factor on vertical direction is K '.The angle driving amount (γ, δ) that is converted into electronic theodolite by the inner parameter of demarcating in (2), circular is:
γ=(m×p+q)×K；
δ=(n×p+q)×K′。
(4) according to the electronic theodolite angle driving amount in (3), by computing machine sending controling instruction, drive electronic theodolite to carry out angular deflection according to (γ, δ), reach collimating status.
Although above the specific embodiment of the present invention is described in detail and is illustrated, but what should indicate is, we can make various changes and modifications above-mentioned embodiment, but these do not depart from the scope that spirit of the present invention and appended claim are recorded.
Claims (5)
1. the automatic transit alignment measurement method based on image recognition, its measuring equipment is comprised of the electronic theodolite of built-in CD-ROM drive motor, miniature measurement camera and fixing tool, by miniature measurement camera, electronic theodolite is carried out to the guiding of autocollimation measurement, comprise the steps:
(1) fixing tool is connected and fixed miniature measurement camera with electronic theodolite, and miniature measurement camera can carry out unobstructed observation to the measurement visual field of electronic theodolite by electronic theodolite lens barrel;
(2) calibrating miniature is measured the spatial relationship of camera and transit as the work inner parameter of system, comprises that transformational relation (deflection factor and translational movement) between being of the plane of delineation coordinate system of the captured image of camera and transit eyepiece crosshair observation coordinate and focal length survey under state (focal length state when transit collimates) scale-up factor of pixel deviator in electronic theodolite angle deviator and miniature measurement image shot by camera in infinite distance;
A. transformational relation (deflection factor and the translational movement) scaling method between the plane of delineation coordinate system of the captured image of camera and transit eyepiece crosshair observation coordinate system is:
If coordinate system XOY is the frame of reference that transit eyepiece crosshair characterizes, xoy is the photo coordinate system of guiding camera, and two coordinates are isoplanar rotation and translation linear transformation in proportion, establish this transformational relation to be
X=p×x+q，Y=p×y+q （1）
In formula, (X, Y) is the coordinate figure of impact point in the frame of reference, and the frame of reference is extracted by the transit crosshair in image, and the distance (pixel count metering) of calculating impact point to two coordinate axis is this coordinate figure; (x, y) be the coordinate figure of same impact point in photo coordinate system, photo coordinate system be take picture centre as true origin, and parallel pixel orientation and vertical pixel orientation form coordinate axis, and the distance of calculating impact point to two coordinate axis is this coordinate figure; P, q are transformational relation coefficient;
In image, get arbitrarily two known point A, B, if the coordinate figure of A in the frame of reference is (A1, A2), coordinate figure in photo coordinate system is (a1, a2), and the coordinate figure of B in reference index system is (B1, B2), coordinate figure in photo coordinate system is (b1, b2), can solve the transformational relation of the frame of reference and photo coordinate system by these four groups of coordinate figures;
B. focal length electronic theodolite deflection angle tolerance under collimation observer state with the scaling method of the relation of miniature measurement camera pixel quantity is:
The electronic theodolite that is fixedly connected with miniature measurement camera is stable to state 1, the level angle of transit and vertical angle under recording status 1 condition, the image of the miniature measurement camera under recording status 1 condition, electronic theodolite is carried out to level angle and vertical angle deflection, be stable at state 2, the level angle of transit and vertical angle under recording status 2 conditions, the image of the miniature measurement camera under recording status 2 conditions;
The amount of pixels of image shift in computing mode 1 and state 2, by the demarcation relation in (1), this side-play amount dress is changed to two offset components under electronic theodolite observation coordinate system, corresponding to the level angle of electronic theodolite state 1 and state 2 and the deviator of vertical angle, calculate respectively the deflection angle tolerance of the electronic theodolite on two change in coordinate axis direction under electronic theodolite observation coordinate system with the Relation Parameters of miniature measurement camera pixel departure; In the position apart from the different deflection angles of transit collimation axis, the deflection angle tolerance of electronic theodolite is not linear relationship completely with the relation of miniature measurement camera pixel departure, the parameter calibration method distributing based on image lattice, be about to some regions that image is divided into N * M, each graticule mesh intersection point is once demarcated according to the method in (b), in the time need to using this parameter, according to target, according to principle nearby, selected the parameter of corresponding grid points position with the distance of possessive case site in image;
(3) automatically extract collimation back light and electronic theodolite eyepiece crosshair and deviation relation
Utilize collimation back light and electronic theodolite eyepiece crosshair shape facility in image, by the method based on gray analysis, in image, extract the centre coordinate of cross back light and the coordinate of electronic theodolite eyepiece crosshair, calculate the two pixel departure in image; By the Relation Parameters of demarcating in (2), pixel departure is converted into the amount of angular deviation of transverse axis and vertical axes under electronic theodolite observation coordinate system;
(4) amount of angular deviation of calculating in (3) is sent to electronic theodolite with instruction type, drive transit to carry out deflection according to set angle, until complete collimation.
2. the method for claim 1, wherein the scale-up factor of pixel deviator comprises planche cross silk direction scale-up factor and vertical direction scale-up factor in electronic theodolite angle deviator and miniature measurement image shot by camera.
3. the method for claim 1, wherein electronic theodolite is the electronic theodolite that has autocollimation function and be built-in with CD-ROM drive motor.
4. the miniature measurement camera the method for claim 1, wherein adopting is the miniature measurement camera that focuses.
5. the method as described in claim 1-4 any one, wherein, the fixing tool adopting is for coordinating the frock of eyepiece and miniature measurement camera size, when miniature measurement camera can be fixed on to transit eyepiece position, by parallel fixing mode guarantee the optical axis of miniature measurement camera and the collimation axis of transit basically identical.
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