Target measurement method and device, computer equipment and storage medium
A target measurement and target technology, applied in the computer field, can solve problems such as complex construction environment, inability to meet measurement requirements, insufficient stability, etc., and achieve the effect of meeting measurement requirements, stable measurement results, and rich information expressed
Pending Publication Date: 2022-04-12
GUANGDONG BOZHILIN ROBOT CO LTD
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Problems solved by technology
[0002] In the application of construction robots, it is necessary to measure the target object (such as the wall) to obtain the corresponding posture, such as the yin and yang angle of the wall, the wall inclination, etc., because the shapes and sizes of the target objects to be measured are different, and the construction environment is relatively complex , the current measurement methods are often affected by these external environments, resulting in insufficient stability and unable to meet the measurement needs in complex environments
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[0036] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.
[0037] The target measurement method provided by this application can be applied to a terminal, such as a construction robot. The terminal has a built-in laser and a camera, or the terminal is connected to the laser and the camera separately. The laser is irradiated on the target to be measured to form a grid pattern, and the field of view of the camera can Capture all the grid patterns, the terminal obtains the corresponding data from the laser and the camera, and processes the acquired data to obtain the three-dimensional measurement information of the target to be measur...
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The invention relates to a target measurement method and device, computer equipment and a storage medium. The method comprises the steps that first position information of grid laser lines formed by irradiating a to-be-measured target by a laser is acquired, the grid laser lines comprise row laser lines and column laser lines, and the first position information comprises position information of the grid laser lines in an image formed by shooting of a camera; according to the first position information, second position information of each grid laser point is determined, the second position information comprises two-dimensional coordinate information of the grid laser point in the image and corresponding row and column information, and the row and column information comprises the row number or the column number of a grid laser line where the grid laser point is located; three-dimensional coordinate information of each grid laser point is obtained according to the second position information, internal parameters of the camera and constraint parameters, and the constraint parameters comprise conversion parameters from the laser to the camera; and obtaining three-dimensional measurement information of the to-be-measured target based on the three-dimensional coordinate information. The method can improve the stability of the measurement result.
Description
technical field [0001] The present application relates to the field of computer technology, in particular to a target measurement method, device, computer equipment and storage medium. Background technique [0002] In the application of construction robots, it is necessary to measure the target object (such as the wall) to obtain the corresponding posture, such as the yin and yang angle of the wall, the wall inclination, etc., because the shapes and sizes of the target objects to be measured are different, and the construction environment is relatively complex , the current measurement methods are often affected by these external environments, resulting in insufficient stability and unable to meet the measurement requirements in complex environments. Contents of the invention [0003] Based on this, it is necessary to provide an object measurement method, device, computer equipment and storage medium capable of improving the stability of measurement results in order to add...
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IPC IPC(8): G01B11/00G01B11/24G01C11/00G06T7/80
Inventor 黄以恺肖晶赵瑞欣林康华李航
Owner GUANGDONG BOZHILIN ROBOT CO LTD