A fully automatic measurement method, device and computer equipment of image total station

Abstract

The present application discloses a method, device and computer equipment for fully automatic measurement of an image total station, including: first identifying a target point from an image of a target environment, and obtaining the first pixel coordinates of the target point therein; then obtaining the three-dimensional position coordinates of the target point in the binocular stereo vision camera coordinate system and the approximate position coordinates in the image total station coordinate system based on the first pixel coordinates; then extracting the second pixel coordinates from the high-magnification image of the target point based on the approximate position coordinates; finally, obtaining the angle deviation of the target point relative to the target sighting axis of the telephoto camera module based on the second pixel coordinates, thereby achieving the aiming of the telephoto camera module to the target point to measure the position coordinates of the target point. The above scheme solves the technical problems that the existing image total station still needs manual assistance to identify the target point, generally cannot realize unmanned fully automatic measurement work, and has low measurement efficiency, and realizes fully automatic measurement of target points with higher measurement efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of surveying and mapping instruments, and in particular to a fully automatic measurement method, device and computer equipment of an image total station. Background Art

[0002] The image total station consists of a servo motor, an image sensor and a total station. It has the function of quickly measuring targets and is widely used in astronomical measurement, deformation measurement, precision engineering measurement and other fields.

[0003] Existing image total stations are generally equipped with two CCD cameras, including a wide-angle camera located above the telescope of the image total station and a telephoto camera coaxial with the telescope. Among them, the wide-angle camera is used for framing, and the telephoto camera is used for accurately aiming at the target. In the application process, the wide-angle camera is first used to frame and obtain a wide-angle image, and then the target point is identified from the wide-angle image by a computer device. However, in the existing technology, the recognition accuracy of the target point is low, and it is still necessary to manually click the target point on the wide-angle image on the screen. The total station then drives the telescope and the telephoto camera to the corresponding position, thereby realizing the aiming and measurement of the target point.

[0004] It can be seen that the existing image total station still needs manual assistance to identify the target point, and generally cannot realize unmanned fully automatic measurement, and the measurement efficiency is low. Summary of the invention

[0005] The present application provides a fully automatic measurement method, device and computer equipment for an image total station, which solves the technical problems that existing image total stations still require manual assistance to identify target points, are generally unable to achieve unmanned fully automatic measurement work, and have low measurement efficiency.

[0006] On the one hand, a fully automatic measurement method using an image total station is provided, the method comprising:

[0007] Acquire a target environment image, and identify a target point from the target environment image to obtain a first pixel coordinate of the target point in the target environment image; the target environment image is collected by a binocular stereo vision camera in an image total station host;

[0008] According to the first pixel coordinates, obtaining the three-dimensional position coordinates of the target point in the coordinate system of the binocular stereo vision camera;

[0009] According to the three-dimensional position coordinates, obtaining the approximate position coordinates of the target point in the coordinate system of the image total station host;

[0010] Based on the approximate position coordinates, a high-magnification image of the target point is acquired, and a second pixel coordinate of the target point is extracted from the high-magnification image; the high-magnification image of the target point is taken by a telephoto camera module in the automatic total station;

[0011] Acquire, according to the second pixel coordinate, an angular deviation of the target point relative to a target sighting axis of the telephoto camera module;

[0012] Based on the angle deviation, the telephoto camera module is aimed at the target point to measure the position coordinates of the target point.

[0013] In another aspect, a fully automatic measurement device of an image total station is provided, the device comprising:

[0014] A first pixel coordinate acquisition module is used to acquire a target environment image and identify a target point from the target environment image to acquire a first pixel coordinate of the target point in the target environment image; the target environment image is acquired by a binocular stereo vision camera in an image total station host;

[0015] A three-dimensional position coordinate acquisition module, used to acquire the three-dimensional position coordinates of the target point in the coordinate system of the binocular stereo vision camera according to the first pixel coordinates;

[0016] A rough position coordinate acquisition module, used for acquiring the rough position coordinates of the target point in the coordinate system of the image total station host according to the three-dimensional position coordinates;

[0017] A second pixel coordinate acquisition module is used to acquire a high-magnification image of the target point based on the approximate position coordinates, and extract a second pixel coordinate of the target point from the high-magnification image; the high-magnification image of the target point is taken by a telephoto camera module in the automatic total station;

[0018] An angle deviation acquisition module, used to acquire an angle deviation of the target point relative to a target sighting axis of the telephoto camera module according to the second pixel coordinate;

[0019] The position coordinate acquisition module is used to enable the telephoto camera module to aim at the target point based on the angle deviation, so as to measure the position coordinates of the target point.

[0020] In a possible implementation, the target environment image includes at least one of a wide-angle image and a panoramic image; the target environment image is acquired by the binocular stereo vision camera by photographing and stitching the surrounding environment multiple times at a target rotation angle.

[0021] In a possible implementation manner, the first pixel coordinate acquisition module is further used to:

[0022] A cooperative target is identified from the wide-angle image or the panoramic image, and the center point of the cooperative target is determined as the target point; and the cooperative target is pasted on the measured target.

[0023] In a possible implementation manner, the three-dimensional position coordinate acquisition module is further used to:

[0024] Based on the first pixel coordinates, the three-dimensional shape and position of the surrounding environment of the image total station host are reconstructed to obtain the three-dimensional position coordinates of the target point in the coordinate system of the binocular stereo vision camera.

[0025] In a possible implementation manner, the module for acquiring the approximate position coordinates is further used to:

[0026] Based on the coordinate transformation relationship between the binocular stereo vision camera and the automatic total station in the image total station host, the three-dimensional position coordinates are transformed to obtain the approximate position coordinates of the target point in the coordinate system of the automatic total station.

[0027] In a possible implementation, the second pixel coordinate acquisition module is further used to:

[0028] Based on the approximate position coordinates, the target point is roughly sighted and automatically focused through the telephoto camera module, and a high-magnification image of the target point is acquired.

[0029] In a possible implementation manner, the angle deviation acquisition module is further used to:

[0030] Acquiring the lateral resolution, longitudinal resolution, horizontal field of view angle and vertical field of view angle of the high-magnification image;

[0031] Obtaining a third pixel coordinate corresponding to the target sighting axis of the telephoto camera module on the high-magnification image;

[0032] Based on the second pixel coordinates and the third pixel coordinates, obtaining a position offset value of the target point relative to the target sighting axis on the high-magnification image;

[0033] Based on the position offset value, the lateral resolution and the horizontal field of view angle, obtaining a horizontal angle deviation of the target point relative to the target sighting axis;

[0034] Based on the position offset value, the longitudinal resolution and the vertical field of view angle, a vertical angle deviation of the target point relative to the target sighting axis is obtained.

[0035] In a possible implementation manner, the position coordinate acquisition module is further used to:

[0036] Based on the horizontal angle deviation and the vertical angle deviation, the target point is precisely sighted by the telephoto camera module;

[0037] Angle measurement and distance measurement are performed on the target point to obtain the position coordinates of the target point.

[0038] On the other hand, a computer device is provided, comprising a processor and a memory, wherein the memory stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the above-mentioned fully automatic measurement method of an image total station.

[0039] On the other hand, a computer-readable storage medium is provided, wherein at least one instruction is stored in the storage medium, and the at least one instruction is loaded and executed by a processor to implement the above-mentioned fully automatic measurement method of an image total station.

[0040] The technical solution provided by this application may have the following beneficial effects:

[0041] First, obtain the target environment image, and identify the target point from the target environment image to obtain the first pixel coordinates of the target point in the target environment image; then, based on the first pixel coordinates, obtain the three-dimensional position coordinates of the target point in the coordinate system of the binocular stereo vision camera, and based on the three-dimensional position coordinates, obtain the approximate position coordinates of the target point in the coordinate system of the image total station host; then, based on the approximate position coordinates, obtain a high-magnification image of the target point, and extract the second pixel coordinates of the target point from the high-magnification image; finally, based on the second pixel coordinates, obtain the angular deviation of the target point relative to the target sighting axis of the telephoto camera module, and based on the angular deviation, realize the telephoto camera module aiming at the target point to measure the position coordinates of the target point. The above scheme collects the target environment image through the binocular stereo vision camera to identify the target point. Not only does it not need to manually identify the target point, but it also does not need to estimate the distance information of the target point in advance through other auxiliary means. The three-dimensional position coordinates of the target point can be directly estimated, thereby realizing fully automatic measurement of the target point, and the measurement efficiency is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0043] Figure 1It is a schematic structural diagram of a fully automatic measurement system of an image total station according to an exemplary embodiment.

[0044] Figure 2 The present invention is a method flow chart showing a method for fully automatic measurement using an image total station according to an exemplary embodiment.

[0045] Figure 3 The present invention is a method flow chart showing a method for fully automatic measurement using an image total station according to an exemplary embodiment.

[0046] Figure 4 The present invention is a workflow diagram of a fully automatic system of an image total station according to an exemplary embodiment.

[0047] Figure 5 is a schematic diagram of a target precise aiming algorithm according to an exemplary embodiment.

[0048] Figure 6 It is a structural block diagram of a fully automatic measurement device of an image total station according to an exemplary embodiment.

[0049] Figure 7 A structural block diagram of a computer device shown in an exemplary embodiment of the present application is shown. DETAILED DESCRIPTION

[0050] The technical solution of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0051] In the description of the embodiments of the present application, the term "corresponding" may indicate a direct or indirect correspondence between two items, or an association relationship between the two items, or a relationship between indication and being indicated, configuration and being configured, and the like.

[0052] Figure 1 The present invention is a schematic diagram of a fully automatic measurement system of an image total station according to an exemplary embodiment. The fully automatic measurement system includes an image total station host, a cooperative target and a computer device. The image total station host includes a binocular stereo vision camera, an automatic total station and an automatic leveling base.

[0053] Optionally, the binocular stereo vision camera is mounted on the top of the automatic total station through an adapter to capture the surrounding environment (i.e., the target environment) of the image total station host and obtain the surrounding environment image to identify the target point from the surrounding environment image.

[0054] Optionally, the adapter is used to connect the binocular stereo vision camera and the automatic total station. In addition, the adapter is configured to be in the shape of a handle and can be used as a handle to facilitate carrying the image total station host.

[0055] Optionally, the automatic total station includes a fill light, a telephoto camera module, a rotating frame (including a dual-axis drive motor) and a base.

[0056] Optionally, the binocular stereo vision camera, driven by the dual-axis drive motor (rotating axis drive motor) of the automatic total station, makes horizontal rotation movement along with the rotating frame of the automatic total station, and photographs the surrounding environment to obtain multiple images, and then obtains a wide-angle image or panoramic image of the surrounding environment by stitching the multiple images.

[0057] Optionally, the telephoto camera module includes a telescope (including an automatic focusing mechanism) and a telephoto camera. The telephoto camera is installed at the visual end of the automatic total station and is coaxially arranged with the telescope to form a telephoto camera module. The telephoto camera module can be driven by the dual-axis drive motor (pitch axis drive motor) of the automatic total station to perform vertical pitch movement and take telephoto photos of the surrounding environment, and then focus through the automatic focusing mechanism built into the telescope to finally obtain a high-magnification and clear image of the distant or near-field target in the telescope field of view (i.e., the high-magnification image).

[0058] Optionally, the fill light is located between the binocular stereo vision camera and the telephoto camera module. The fill light can provide fill light in a low-light environment according to measurement needs, so that the measured target (i.e., the target point) can be clearly imaged in the binocular stereo vision camera and the telephoto camera module.

[0059] Optionally, the automatic leveling base contains an automatic leveling mechanism, a power supply, and a control circuit, wherein the automatic leveling mechanism can automatically level the base of the automatic total station to cope with measurement work situations where the automatic total station needs to be leveled; the power supply can supply power to the entire host; the control circuit communicates with the computer device and is used to automatically control the image total station host to work through the computer device and the corresponding program.

[0060] Optionally, the cooperative target is engraved with characteristic patterns such as crosshairs and rings and is made of a material with good reflective properties. It is used to be pasted on the object to be measured to assist in measuring the position coordinates of the object to be measured.

[0061] Optionally, the image total station host is connected to the computer device via a communication network, and the communication network may be a wired network or a wireless network, such as a cable, Bluetooth or a wireless network (Wi-Fi).

[0062] Optionally, the above-mentioned wireless network or wired network uses standard communication technology and / or protocol. The network is usually the Internet, but it can also be any other network, including but not limited to any combination of local area network, metropolitan area network, wide area network, mobile, limited or wireless network, private network or virtual private network. In some embodiments, the technology and / or format including hypertext markup language, extensible markup language, etc. are used to represent the data exchanged through the network. In addition, conventional encryption technologies such as secure socket layer, transport layer security, virtual private network, Internet protocol security, etc. can also be used to encrypt all or some links. In other embodiments, customized and / or dedicated data communication technology can also be used to replace or supplement the above-mentioned data communication technology.

[0063] Figure 2 is a method flow chart of a method for fully automatic measurement of an image total station according to an exemplary embodiment. The method is executed by a computer device, which may be Figure 1 The computer equipment shown in . Figure 2 As shown, the fully automatic measurement method may include the following steps:

[0064] Step S201, acquiring a target environment image, and identifying a target point from the target environment image to obtain a first pixel coordinate of the target point in the target environment image; the target environment image is collected by a binocular stereo vision camera in an image total station host.

[0065] In one possible implementation, when measuring the position coordinates of the target point, the surrounding environment of the image total station host is first photographed by a binocular stereo vision camera to obtain a target environment image (i.e., an image of the surrounding environment of the image total station host), so that the computer device can identify the target point from the target environment image and then obtain the pixel coordinates of the target point in the target environment image (i.e., the first pixel coordinates).

[0066] Step S202: Obtain the three-dimensional position coordinates of the target point in the coordinate system of the binocular stereo vision camera according to the first pixel coordinates.

[0067] In one possible implementation, after obtaining the first pixel coordinates of the target point in the target environment image, the computer device performs stereo modeling of the surrounding environment of the image total station host based on the first pixel coordinates, and then obtains the three-dimensional position coordinates of the target point in the coordinate system of the binocular stereo vision camera.

[0068] Step S203: Obtain the approximate position coordinates of the target point in the coordinate system of the imaging total station host according to the three-dimensional position coordinates.

[0069] In one possible implementation, after obtaining the three-dimensional position coordinates of the target point in the coordinate system of the binocular stereo vision camera, the computer device transforms the three-dimensional position coordinates into approximate position coordinates of the target point in the coordinate system of the image total station host based on the positional relationship between the binocular stereo vision camera and the image total station host, so that the telephoto camera module can roughly aim at the target point.

[0070] Step S204, based on the approximate position coordinates, obtaining a high-magnification image of the target point, and extracting the second pixel coordinates of the target point from the high-magnification image; the high-magnification image of the target point is taken by the telephoto camera module in the automatic total station.

[0071] In one possible implementation, after obtaining the approximate position coordinates of the target point in the coordinate system of the image total station host, the telephoto camera module roughly aims at the target point based on the approximate position coordinates, captures a high-magnification image of the target point by focusing, and the computer device extracts the pixel coordinates of the target point (i.e., the second pixel coordinates) from the high-magnification image.

[0072] Step S205: acquiring an angular deviation of the target point relative to a target sighting axis of the telephoto camera module according to the second pixel coordinate.

[0073] In a possible implementation, after extracting the second pixel coordinates of the target point, the computer device converts the second pixel coordinates into an angular deviation of the target point relative to a target sighting axis of the telephoto camera module.

[0074] Optionally, the target sighting axis is the current sighting axis of the telephoto camera module when the conversion is performed.

[0075] Step S206: Based on the angle deviation, the telephoto camera module is aimed at the target point to measure the position coordinates of the target point.

[0076] In a possible implementation, after obtaining the angular deviation of the target point relative to the target sighting axis of the telephoto camera module, the telephoto camera module accurately aims at the target point according to the angular deviation, and then measures the position coordinates of the target point.

[0077] In summary, first obtain the target environment image, and identify the target point from the target environment image to obtain the first pixel coordinates of the target point in the target environment image; then, based on the first pixel coordinates, obtain the three-dimensional position coordinates of the target point in the coordinate system of the binocular stereo vision camera, and based on the three-dimensional position coordinates, obtain the approximate position coordinates of the target point in the coordinate system of the image total station; then, based on the approximate position coordinates, obtain a high-magnification image of the target point, and extract the second pixel coordinates of the target point from the high-magnification image; finally, based on the second pixel coordinates, obtain the angular deviation of the target point relative to the target sighting axis of the telephoto camera module, and based on the angular deviation, realize the telephoto camera module aiming at the target point to measure the position coordinates of the target point. The above scheme collects the target environment image through the binocular stereo vision camera to identify the target point. Not only does it not need to manually identify the target point, but it also does not need to estimate the distance information of the target point in advance through other auxiliary means. The three-dimensional position coordinates of the target point can be directly estimated, thereby realizing fully automatic measurement of the target point, and the measurement efficiency is higher.

[0078] Figure 3 is a method flow chart of a method for fully automatic measurement of an image total station according to an exemplary embodiment. The method is executed by a computer device, which may be Figure 1 The computer equipment shown in . Figure 3 As shown, the fully automatic measurement method may include the following steps:

[0079] Step S301, obtaining a target environment image, and identifying a target point from the target environment image to obtain a first pixel coordinate of the target point in the target environment image; the target environment image is collected by a binocular stereo vision camera in an image total station host.

[0080] In a possible implementation, the target environment image includes at least one of a wide-angle image and a panoramic image; the target environment image is acquired by the binocular stereo vision camera by photographing and stitching the surrounding environment multiple times at a target rotation angle.

[0081] In a possible implementation, a cooperative target is identified from the wide-angle image or the panoramic image, and a center point of the cooperative target is determined as the target point; and the cooperative target is pasted on the measured object.

[0082] For further information, please refer to Figure 4 The workflow diagram of a fully automatic system of an image total station is shown in FIG. Figure 4As shown, when it is necessary to measure the position coordinates of the target to be measured, the cooperative target is first pasted on the target to be measured, and the image total station host is arranged at an appropriate measuring station position. After the arrangement is completed, the binocular stereo vision camera in the image total station host continuously photographs its surrounding environment at the target rotation angle, and a wide-angle image or panoramic image of the environment (i.e., the target environment image) is obtained by splicing multiple images.

[0083] Optionally, the target rotation angle is a rotation angle at a certain interval.

[0084] Furthermore, after acquiring a wide-angle image or a panoramic image of the environment (i.e., the target environment image), a machine learning algorithm is used to identify the cooperative target in the wide-angle image or the panoramic image, and detect the pixel coordinates of the target point (the center point of the cooperative target) (i.e., the first pixel coordinates mentioned above).

[0085] Optionally, the machine learning algorithm may be a machine learning algorithm of a convolutional neural network (CNN) series or a YOLO (You Only Look Once) series.

[0086] Step S302: reconstruct the three-dimensional shape and position of the surrounding environment of the image total station host based on the first pixel coordinates to obtain the three-dimensional position coordinates of the target point in the coordinate system of the binocular stereo vision camera.

[0087] Furthermore, after obtaining the first pixel coordinates of the target point in the target environment image, the three-dimensional shape and position of the surrounding environment of the image total station host are reconstructed based on the first pixel coordinates through the binocular stereo vision algorithm, and the three-dimensional position coordinates of the target point (cooperative target center point) in the coordinate system of the binocular stereo vision camera are obtained.

[0088] Step S303: based on the coordinate transformation relationship between the binocular stereo vision camera and the automatic total station in the image total station host, transform the three-dimensional position coordinates to obtain the approximate position coordinates of the target point in the coordinate system of the automatic total station.

[0089] Furthermore, since the binocular stereo vision camera is fixed, its position and posture relative to the automatic total station are fixed. Therefore, after obtaining the three-dimensional position coordinates of the target point (cooperative target center point) in the coordinate system of the binocular stereo vision camera, the coordinate transformation relationship between the binocular stereo vision camera and the automatic total station (i.e. Figure 4 The coordinate transformation relationship algorithm between the binocular stereo vision camera and the automatic total station) and the three-dimensional position coordinates are used to calculate the approximate position coordinates of the target point in the automatic total station coordinate system.

[0090] Step S304: based on the approximate position coordinates, obtain a high-magnification image of the target point, and extract the second pixel coordinates of the target point from the high-magnification image; the high-magnification image of the target point is taken by the telephoto camera module in the automatic total station.

[0091] In a possible implementation, based on the approximate position coordinates, the telephoto camera module is used to roughly aim and automatically focus the target point, and a high-magnification image of the target point is acquired.

[0092] Furthermore, after calculating the approximate position coordinates of the target point in the automatic total station coordinate system, the telephoto camera module (telescope and telephoto camera) is driven by the dual-axis drive motor of the automatic total station in the image total station host to rotate and pitch based on the approximate position coordinates, so as to achieve approximate aiming of the telephoto camera module at the target point.

[0093] Furthermore, after a rough sighting is performed, the automatic focusing mechanism in the telescope of the telephoto camera module is used to realize automatic focusing of the telescope, and the telescope is combined with the telephoto camera to take pictures, thereby obtaining a clear high-magnification image of the cooperative target.

[0094] Furthermore, after acquiring the high-magnification image, edge detection and centroid extraction algorithms are used to extract the pixel coordinates (ie, the second pixel coordinates) of the target point in the high-magnification image.

[0095] Step S305: Obtain an angular deviation of the target point relative to a target sighting axis of the telephoto camera module according to the second pixel coordinate.

[0096] In a possible implementation, the lateral resolution, longitudinal resolution, horizontal field of view angle, and vertical field of view angle of the high-magnification image are obtained;

[0097] Obtaining a third pixel coordinate corresponding to the target sighting axis of the telephoto camera module on the high-magnification image;

[0098] Based on the second pixel coordinate and the third pixel coordinate, obtaining a position offset value of the target point relative to the target sighting axis on the high-magnification image;

[0099] Based on the position offset value, the lateral resolution and the horizontal field of view angle, obtaining a horizontal angle deviation of the target point relative to the target sighting axis;

[0100] Based on the position offset value, the longitudinal resolution and the vertical field of view angle, a vertical angle deviation of the target point relative to the target sighting axis is obtained.

[0101] Furthermore, after extracting the second pixel coordinates of the target point from the high-magnification image, the second pixel coordinates are converted into the horizontal angle deviation and vertical angle deviation of the target point relative to the current visual axis of the telescope according to the target precision aiming algorithm.

[0102] For further information, please refer to Figure 5 The schematic diagram of the target precision aiming algorithm is shown in Figure 5 As shown, it is known that the lateral resolution of the high-magnification image obtained by the telephoto camera module is u, the longitudinal resolution is v, the corresponding horizontal field angle is α, the vertical field angle is β, and the current collimation axis of the telescope in the telephoto camera module (i.e. Figure 5 The position of the cross-reticle image of the telescope in the high-magnification image is (u0, v0), and the pixel coordinates of the target point in the high-magnification image are extracted by edge detection and centroid extraction algorithm as (u', v'). Therefore, the offset value of the target point relative to the position of the current sighting axis of the telescope on the high-magnification image is Δu = u'-u0 and Δv = v'-v0.

[0103] However, since the field of view of the high-magnification image is small, it can be considered that the field of view is linearly related to the pixel, so the corresponding horizontal angle deviation is Δα=Δu·α / u, and the vertical angle deviation is Δβ=Δv·β / v. After obtaining the horizontal angle deviation Δα and the vertical angle deviation Δβ, the dual-axis drive motor in the automatic total station drives the telescope and the telephoto camera to rotate Δα in the horizontal direction and Δβ in the vertical direction, so as to achieve precise aiming of the target point, so as to finally accurately measure the position coordinates of the target point.

[0104] Step S306: Based on the angle deviation, the telephoto camera module is aimed at the target point to measure the position coordinates of the target point.

[0105] In a possible implementation, based on the horizontal angle deviation and the vertical angle deviation, the target point is precisely sighted by the telephoto camera module;

[0106] Angle measurement and distance measurement are performed on the target point to obtain the position coordinates of the target point.

[0107] Furthermore, after obtaining the horizontal angle deviation and the vertical angle deviation, the horizontal angle deviation and the vertical angle deviation are fed back to the computer device, and the dual-axis drive motor in the automatic total station drives the telescope and the telephoto camera to rotate and pitch, so as to achieve precise aiming of the telephoto camera module to the target point. After achieving precise aiming of the target point, the angle measurement function and the distance measurement function of the automatic total station are used to achieve accurate measurement of the position coordinates of the target point.

[0108] In summary, first obtain the target environment image, and identify the target point from the target environment image to obtain the first pixel coordinates of the target point in the target environment image; then, based on the first pixel coordinates, obtain the three-dimensional position coordinates of the target point in the coordinate system of the binocular stereo vision camera, and based on the three-dimensional position coordinates, obtain the approximate position coordinates of the target point in the coordinate system of the image total station; then, based on the approximate position coordinates, obtain a high-magnification image of the target point, and extract the second pixel coordinates of the target point from the high-magnification image; finally, based on the second pixel coordinates, obtain the angular deviation of the target point relative to the target sighting axis of the telephoto camera module, and based on the angular deviation, realize the telephoto camera module aiming at the target point to measure the position coordinates of the target point. The above scheme collects the target environment image through the binocular stereo vision camera to identify the target point. Not only does it not need to manually identify the target point, but it also does not need to estimate the distance information of the target point in advance through other auxiliary means. The three-dimensional position coordinates of the target point can be directly estimated, thereby realizing fully automatic measurement of the target point, and the measurement efficiency is higher.

[0109] Figure 6 1 is a block diagram of a fully automatic measurement device using an image total station according to an exemplary embodiment. The fully automatic measurement device includes:

[0110] A first pixel coordinate acquisition module 601 is used to acquire a target environment image and identify a target point from the target environment image to acquire a first pixel coordinate of the target point in the target environment image; the target environment image is acquired by a binocular stereo vision camera in an image total station host;

[0111] A three-dimensional position coordinate acquisition module 602 is used to acquire the three-dimensional position coordinates of the target point in the coordinate system of the binocular stereo vision camera according to the first pixel coordinates;

[0112] A rough position coordinate acquisition module 603 is used to acquire the rough position coordinates of the target point in the coordinate system of the image total station host according to the three-dimensional position coordinates;

[0113] The second pixel coordinate acquisition module 604 is used to acquire a high-magnification image of the target point based on the approximate position coordinates, and extract the second pixel coordinates of the target point from the high-magnification image; the high-magnification image of the target point is taken by the telephoto camera module in the automatic total station;

[0114] An angle deviation acquisition module 605, used to acquire an angle deviation of the target point relative to a target sighting axis of the telephoto camera module according to the second pixel coordinate;

[0115] The position coordinate acquisition module 606 is used to enable the telephoto camera module to aim at the target point based on the angle deviation, so as to measure the position coordinates of the target point.

[0116] In a possible implementation, the target environment image includes at least one of a wide-angle image and a panoramic image; the target environment image is acquired by the binocular stereo vision camera by photographing and stitching the surrounding environment multiple times at a target rotation angle.

[0117] In a possible implementation manner, the first pixel coordinate acquisition module 601 is further configured to:

[0118] A cooperative target is identified from the wide-angle image or the panoramic image, and the center point of the cooperative target is determined as the target point; and the cooperative target is pasted on the measured target.

[0119] In a possible implementation manner, the three-dimensional position coordinate acquisition module 602 is further used to:

[0120] Based on the first pixel coordinates, the three-dimensional shape and position of the surrounding environment of the image total station host are reconstructed to obtain the three-dimensional position coordinates of the target point in the coordinate system of the binocular stereo vision camera.

[0121] In a possible implementation manner, the approximate location coordinate acquisition module 603 is further used to:

[0122] Based on the coordinate transformation relationship between the binocular stereo vision camera and the automatic total station in the image total station host, the three-dimensional position coordinates are transformed to obtain the approximate position coordinates of the target point in the coordinate system of the automatic total station.

[0123] In a possible implementation, the second pixel coordinate acquisition module 604 is further configured to:

[0124] Based on the approximate position coordinates, the target point is roughly sighted and automatically focused through the telephoto camera module, and a high-magnification image of the target point is acquired.

[0125] In a possible implementation manner, the angle deviation acquisition module 605 is further used to:

[0126] Acquiring the lateral resolution, longitudinal resolution, horizontal field of view angle and vertical field of view angle of the high-magnification image;

[0127] Obtaining a third pixel coordinate corresponding to the target sighting axis of the telephoto camera module on the high-magnification image;

[0128] Based on the second pixel coordinates and the third pixel coordinates, obtaining a position offset value of the target point relative to the target sighting axis on the high-magnification image;

[0129] Based on the position offset value, the lateral resolution and the horizontal field of view angle, obtaining a horizontal angle deviation of the target point relative to the target sighting axis;

[0130] Based on the position offset value, the longitudinal resolution and the vertical field of view angle, a vertical angle deviation of the target point relative to the target sighting axis is obtained.

[0131] In a possible implementation manner, the position coordinate acquisition module 606 is further used to:

[0132] Based on the horizontal angle deviation and the vertical angle deviation, the target point is precisely sighted by the telephoto camera module;

[0133] Angle measurement and distance measurement are performed on the target point to obtain the position coordinates of the target point.

[0134] In summary, first obtain the target environment image, and identify the target point from the target environment image to obtain the first pixel coordinates of the target point in the target environment image; then, based on the first pixel coordinates, obtain the three-dimensional position coordinates of the target point in the coordinate system of the binocular stereo vision camera, and based on the three-dimensional position coordinates, obtain the approximate position coordinates of the target point in the coordinate system of the image total station; then, based on the approximate position coordinates, obtain a high-magnification image of the target point, and extract the second pixel coordinates of the target point from the high-magnification image; finally, based on the second pixel coordinates, obtain the angular deviation of the target point relative to the target sighting axis of the telephoto camera module, and based on the angular deviation, realize the telephoto camera module aiming at the target point to measure the position coordinates of the target point. The above scheme collects the target environment image through the binocular stereo vision camera to identify the target point. Not only does it not need to manually identify the target point, but it also does not need to estimate the distance information of the target point in advance through other auxiliary means. The three-dimensional position coordinates of the target point can be directly estimated, thereby realizing fully automatic measurement of the target point, and the measurement efficiency is higher.

[0135] Figure 7 A structural block diagram of a computer device shown in an exemplary embodiment of the present application is shown. The computer device includes a memory and a processor, the memory is used to store a computer program, and when the computer program is executed by the processor, the image total station fully automatic measurement method as described above is implemented.

[0136] An embodiment of the present application further provides a computer storage medium, wherein the computer storage medium is used to store a computer program, and when the computer program is executed by a processor, the fully automatic measurement method of an image total station as described above is implemented.

[0137] The processor may be a central processing unit (CPU). The processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination of the above chips.

[0138] As a non-transitory computer-readable storage medium, the memory can be used to store non-transitory software programs, non-transitory computer executable programs and modules, such as program instructions / modules corresponding to the method in the embodiment of the present invention. The processor executes various functional applications and data processing of the processor by running the non-transitory software programs, instructions and modules stored in the memory, that is, implementing the method in the above method embodiment.

[0139] The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created by the processor, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0140] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0141] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A fully automatic measurement method using an image total station, characterized in that: The method comprises: Acquire a target environment image, and identify a target point from the target environment image to obtain a first pixel coordinate of the target point in the target environment image; the target environment image is collected by a binocular stereo vision camera in an image total station host; According to the first pixel coordinates, obtaining the three-dimensional position coordinates of the target point in the coordinate system of the binocular stereo vision camera; According to the three-dimensional position coordinates, obtaining the approximate position coordinates of the target point in the coordinate system of the image total station host; Based on the approximate position coordinates, a high-magnification image of the target point is acquired, and a second pixel coordinate of the target point is extracted from the high-magnification image; the high-magnification image of the target point is taken by a telephoto camera module in the image total station host; Acquire, according to the second pixel coordinate, an angular deviation of the target point relative to a target sighting axis of the telephoto camera module; Based on the angle deviation, the telephoto camera module is aimed at the target point to measure the position coordinates of the target point.

2. The method according to claim 1, characterized in that: The target environment image includes at least one of a wide-angle image and a panoramic image; the target environment image is obtained by the binocular stereo vision camera taking pictures and stitching the surrounding environment multiple times at a target rotation angle.

3. The method according to claim 2, characterized in that The step of identifying a target point from the target environment image comprises: A cooperative target is identified from the wide-angle image or the panoramic image, and the center point of the cooperative target is determined as the target point; and the cooperative target is pasted on the measured target.

4. The method according to any one of claims 1 to 3, characterized in that: The step of acquiring the three-dimensional position coordinates of the target point in the coordinate system of the binocular stereo vision camera according to the first pixel coordinates includes: Based on the first pixel coordinates, the three-dimensional shape and position of the surrounding environment of the image total station host are reconstructed to obtain the three-dimensional position coordinates of the target point in the coordinate system of the binocular stereo vision camera.

5. The method according to claim 4, characterized in that The step of obtaining the approximate position coordinates of the target point in the coordinate system of the image total station host according to the three-dimensional position coordinates includes: Based on the coordinate transformation relationship between the binocular stereo vision camera and the automatic total station in the image total station host, the three-dimensional position coordinates are transformed to obtain the approximate position coordinates of the target point in the coordinate system of the automatic total station.

6. The method according to claim 5, characterized in that The step of acquiring a high-magnification image of the target point based on the approximate position coordinates includes: Based on the approximate position coordinates, the target point is roughly sighted and automatically focused through the telephoto camera module, and a high-magnification image of the target point is acquired.

7. The method according to claim 6, characterized in that The obtaining, according to the second pixel coordinate, an angle deviation of the target point relative to a target sighting axis of the telephoto camera module includes: Acquiring the lateral resolution, longitudinal resolution, horizontal field of view angle and vertical field of view angle of the high-magnification image; Obtaining a third pixel coordinate corresponding to the target sighting axis of the telephoto camera module on the high-magnification image; Based on the second pixel coordinates and the third pixel coordinates, obtaining a position offset value of the target point relative to the target sighting axis on the high-magnification image; Based on the position offset value, the lateral resolution and the horizontal field of view angle, obtaining a horizontal angle deviation of the target point relative to the target sighting axis; Based on the position offset value, the longitudinal resolution and the vertical field of view angle, a vertical angle deviation of the target point relative to the target sighting axis is obtained.

8. The method according to claim 7, characterized in that The aiming of the telephoto camera module to the target point based on the angle deviation to measure the position coordinates of the target point includes: Based on the horizontal angle deviation and the vertical angle deviation, the target point is precisely sighted by the telephoto camera module; Angle measurement and distance measurement are performed on the target point to obtain the position coordinates of the target point.

9. An image total station fully automatic measurement device, characterized in that: The device comprises: A first pixel coordinate acquisition module is used to acquire a target environment image and identify a target point from the target environment image to acquire a first pixel coordinate of the target point in the target environment image; the target environment image is acquired by a binocular stereo vision camera in an image total station host; A three-dimensional position coordinate acquisition module, used to acquire the three-dimensional position coordinates of the target point in the coordinate system of the binocular stereo vision camera according to the first pixel coordinates; A rough position coordinate acquisition module, used for acquiring the rough position coordinates of the target point in the coordinate system of the image total station host according to the three-dimensional position coordinates; A second pixel coordinate acquisition module is used to acquire a high-magnification image of the target point based on the approximate position coordinates, and extract a second pixel coordinate of the target point from the high-magnification image; the high-magnification image of the target point is taken by a telephoto camera module in the image total station host; An angle deviation acquisition module, used to acquire an angle deviation of the target point relative to a target sighting axis of the telephoto camera module according to the second pixel coordinate; The position coordinate acquisition module is used to enable the telephoto camera module to aim at the target point based on the angle deviation, so as to measure the position coordinates of the target point.

10. A computer device, characterized in that: The computer device includes a processor and a memory, wherein the memory stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the image total station fully automatic measurement method as described in any one of claims 1 to 8.

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