Space measuring and calculating method based on laser and images
An image and space technology, applied in the field of space measurement and calculation, can solve the problems of high flying speed, difficult data and complex data calculation of drones
Active Publication Date: 2020-03-13
上海集光安防科技股份有限公司
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However, due to the high flying speed of the UAV, the collected data is difficult to obtain in time because of the complex calculation.
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[0019] Such as figure 1 Shown, a kind of space measurement method based on laser and image of the present invention is characterized in that, it comprises the laser device and video camera 1 that are carried on the aircraft, and comprises the following steps:
[0020] Camera debugging steps, camera field of view calculation, each camera can calculate a horizontal field of view Ha, vertical field of view Va, diagonal field of view Da, vertical, diagonal field of view at the current focal length The measurement of all corresponds to the same formula, and the following collectively refers to the field of view as V
[0021] V=arctan(X*M / N / 2 / L)*360 / π, where
[0022] X is the resolution of the image, X is the horizontal resolution to calculate the horizontal field of view, X is the vertical resolution to calculate the vertical field of view,
[0023] L is the actual distance from the measured target to the lens, M is the actual distance between two points in the reference object, ...
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The invention relates to security monitoring, intelligent buildings, surveying and mapping and the like, in particular to a space measuring and calculating method. The invention discloses a space measuring and calculating method based on laser and images. A laser and a camera which are carried on an aircraft are included. The method comprises a camera debugging step in which field angles of the camera are measured and calculated, measuring and calculating of vertical and diagonal field angles are corresponding to the same formula and the field angle collectively refers to V=arctan(X*M / N / 2 / L)*360 / pi, and an actual measuring and calculating step in which the laser emits an optical pulse to a measured target, the optical pulse is reflected by a measured object and received by a laser module,time of flight T can be obtained, 2d=cT, meanwhile, a camera is used for shooting to obtain a measuring and calculating image, the distance between two points in the image is measured and calculated,d is known, Va and Ha are known, for the length Le of an actual object, Lh=2*tan (Ha / 2)*d*Reh / Rh, Lv=2*tan(Va / 2)*d*Rev / Rv, and Le is as described in the specifications. The method has the advantages of being rapid, simple, convenient, real-time and accurate.
Description
technical field [0001] The invention relates to security monitoring, intelligent building, surveying and mapping, etc., and in particular to a space measurement method. Background technique [0002] With the development of drone technology, various identification and mapping functions have been integrated into drones. Usually, lasers, cameras and other equipment are used to collect data, and various calculation methods are used to obtain spatial data. However, due to the high flying speed of the UAV, the collected data is difficult to obtain in time because of the complex calculation. Contents of the invention [0003] The present invention aims to solve the above-mentioned problems in the prior art, and provides a space measurement method based on laser and images. The invention has the advantages of quickness, simplicity, real-time and accuracy. [0004] The present invention is realized in this way, a kind of space calculation method based on laser and image, it is c...
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Login to View More IPC IPC(8): G01C15/00
CPCG01C15/002
Inventor 付腾桂柳庆祥华建刚
Owner 上海集光安防科技股份有限公司