A measuring and calculating method for a camera projection coordinate measuring instrument with a weight triangular pyramid

Abstract

The present application relates to camera projection coordinate measuring technology field, specifically to a kind of measurement calculation method of camera projection coordinate measuring instrument with law code triangular pyramid, coordinate measuring instrument includes two and above camera, law code triangular pyramid and intelligent calculator, camera has laser ranging function, law code triangular pyramid is made of four points and six lines, camera signal is connected to intelligent calculator, intelligent calculator uses two and above camera with known distance and angle on support to shoot to-be-measured object, there is law code triangular pyramid in to-be-measured area range;Camera of different angle distance is photographed to the same to-be-measured area, respectively obtains two-dimensional image, then camera ranging data, then according to known size law code triangular pyramid, first corrects the length and angle proportion of image, then obtains distance by three hemispheres intersection points, and three-dimensional calculation can obtain to-be-measured area and to-be-measured object three-dimensional graph, because the angle of multiple cameras is different, the defect of single camera with irradiation dead angle can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of camera projection coordinate measurement, in particular to a measurement and calculation method of a camera projection coordinate measuring instrument with a gage triangle pyramid. BACKGROUND

[0002] Since Dr. Hiroshi Kojima of Japan invented the 3D printer in 1981 by using the laser beam resin curing method, after 40 years of improvement, the materials can be more selected, and the precision is also improved a lot, and it is widely used in various fields. Then the related technology is 3D scanning. With the scanning function, it can be very simple to copy the three-dimensional object. At present, the 3D scanning equipment is very expensive.

[0003] Most 3D scanning technologies rely on range cameras to cross calculate multiple two-dimensional images to obtain three-dimensional images and coordinates. Once the range camera is used for a long time or collides, the shell and the camera core will move, and errors in distance and angle will be generated. SUMMARY

[0004] The present application aims at the defects and deficiencies of the prior art. Most 3D scanning technologies currently use multiple two-dimensional images to cross calculate three-dimensional images and coordinates. The present application adds a gage triangle pyramid in each two-dimensional image, which can correct the deviation to obtain accurate three-dimensional images and coordinates of the measured object.

[0005] The application discloses a kind of measurement calculation methods of camera projection coordinate measuring instrument with weight triangular pyramid, it is characterized in that, camera projection coordinate measuring instrument with weight triangular pyramid, including two and more cameras, weight triangular pyramid (500) and intelligent calculator (700), utilize two and more cameras of known distance and angle installed on support (110) and photograph the area (600) to be measured, wherein, camera has laser ranging function, and weight triangular pyramid (500) is arranged in the area (600) to be measured;Intelligent calculator (700) calculates primary data and corrects picture information to the image of camera;The center point of camera on support (110) is used, and the three-dimensional coordinates of all points of the image of area (600) and measured object (610) are calculated by adding the vertex (550) of weight triangular pyramid in image, and the measurement method of the camera projection coordinate measuring instrument with weight triangular pyramid includes the following steps: S10, image acquisition: two and more cameras photograph area (600) to be measured simultaneously, weight triangular pyramid (500) is placed in area (600) to be measured, and two-dimensional image of different angles of area (600) to be measured is obtained by camera respectively, and after moving support (110) and photographing again, new two-dimensional image of different angles of area (600) to be measured is obtained, and four and more two-dimensional images are corrected in angle and length by weight triangular pyramid (500);S20, length correction: intelligent calculator (700) calculates primary data to two and more images transmitted by camera;Primary data includes first measured length (551) and first measured angle (552) of weight triangular pyramid, and intelligent calculator (700) corrects picture angle and size, so that the corrected angle is 60 degrees and the length is 10MM;Wherein, first measured length (551) is L0, parameter C0 is obtained by subtracting 10MM, the image is enlarged by C0 times, and C0 is in the range of 0.995-1.005, and data beyond the range is invalid;S30, distance calculation: the three-dimensional coordinate relationship between two and more cameras and weight triangular pyramid (500) is obtained according to the angle of weight triangular pyramid (500) in image, the three-dimensional reference point of the vertex (550) of weight triangular pyramid (500) is obtained, the three-dimensional coordinates of center point A (101), center point B (201), center point C (301) and center point D (401) of camera are obtained, and the angle between cameras and the distance from the vertex (550) of triangular pyramid are indirectly obtained;Wherein, the calculation method of each point is: the center of sphere is (a, b, c), the radius is r, then the standard equation of sphere is (x-a) 2 +(y-b) 2 +(z-c) 2 =r 2When three ball center coordinates (a, b, c) and radius r are known, each obtains a spherical combination (x, y, z), the (x, y, z) of the intersection of three spheres is the three-dimensional coordinates thereof; S40, three-dimensional coordinates are made: the intelligent calculator (700) calculates the three-dimensional coordinates of all points of the image of the measured area (600) and the measured object (610) by using the center point of the camera on the support (110) with known three-dimensional coordinates, distance and angle, and the apex (550) of the plummet triangular pyramid in the image.

[0006] Among them, the preferred scheme is that in step S10, the number of cameras is two or more, and when the number is three or more, the second shooting can be omitted.

[0007] Among them, the preferred scheme is that in step S10, the vertical distance (120) between the cameras is greater than 10MM, the horizontal distance (130) between the cameras is greater than 10MM, each camera is not parallel with an included angle, and the angle is in the range of 75-175 degrees.

[0008] Among them, the preferred scheme is that in step S20, the number of plummet triangular pyramids (500) is 2-4, and the image magnification ratio is calculated according to the slope ratio.

[0009] Among them, the preferred scheme is that in step S30, only two angles of the plummet triangular pyramid (500) in the image are needed to restore the shape of the whole set of plummet triangular pyramids (500); under the condition that the plummet triangular pyramid (500) is not available, a straight line with a known length is input to replace its size.

[0010] Among them, the preferred scheme is that the support (110) is fixed on a two-dimensional or more position movement controller, so that the support (110) has stable and non-shaking conditions, and the intelligent calculator (700) displays the three-dimensional image and coordinates of the measured area (600) and the measured object (610) in real time.

[0011] Compared with the prior art, the beneficial effects of the present application are:

[0012] (1) Two cameras are connected to the intelligent calculator, and the cameras are fixed on the support. At the same time, the measured area is shot, the plummet triangular pyramid is placed in the measured area, the cameras are shot respectively to obtain two-dimensional images of the measured area at different angles, the support is moved to shoot again, and new two-dimensional images of the measured area at different angles are obtained, four or more two-dimensional images are obtained, and the known angle and length are obtained from the plummet triangular pyramid. Through the calculation method of the intelligent calculator, the three-dimensional image and coordinates of the measured area can be obtained, the number of cameras can be reduced, and the cost can be reduced.

[0013] (2) When three or more cameras are set, the second shooting can be omitted, and through three or more two-dimensional images and the known angle and length obtained from the plummet triangular pyramid, the three-dimensional image and coordinates of the measured area can be obtained through the calculation method of the intelligent calculator, and the operation time can be shortened.

[0014] (3) The plummet triangular pyramid is in all the shooting images, which has the effect of effectively verifying and verifying when calculating the three-dimensional image and coordinates, increasing the convenience and accuracy. Large measured objects can be placed with multiple plummet triangular pyramids to improve test accuracy.

[0015] (4) When sampling, the camera can shoot two or more photos at different angles, and there can be an included angle to increase the visual angle of the measured object. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a structure diagram of a camera projection coordinate measuring instrument with a plummet triangular pyramid:

[0017] Figure 2 It is a camera structure diagram of a camera projection coordinate measuring instrument with a plummet triangular pyramid:

[0018] Figure 3 It is a structure diagram of a plummet triangular pyramid of a camera projection coordinate measuring instrument with a plummet triangular pyramid:

[0019] Figure 4 It is a distance relationship diagram of a measurement and calculation method of a camera projection coordinate measuring instrument with a plummet triangular pyramid:

[0020] Figure 5 It is a relationship diagram of camera size and position and measured object in a camera projection coordinate measuring instrument with a plummet triangular pyramid:

[0021] Figure 6 It is a diagram for calculating two-dimensional coordinates of a measured point from the distance between two points and the measured point:

[0022] Figure 7 It is a diagram for calculating three-dimensional coordinates of a measured point from the distance between three points and the measured point:

[0023] Figure 8 It is a flowchart of a measurement and calculation method of a camera projection coordinate measuring instrument with a plummet triangular pyramid:

[0024] BRIEF DESCRIPTION OF DRAWINGS:

[0025] 100-first camera; 101-center point A; 110-bracket; 120-vertical distance between cameras; 130-horizontal distance between cameras;

[0026] 200-second camera; 201-center point B; 300-third camera;

[0027] 301 - center point C; 400 - fourth camera; 401 - center point D;

[0028] 500 - weight triangular pyramid; 501 - top angle F; 502 - top angle 5;

[0029] 510 - weight triangular pyramid first face; 520 - weight triangular pyramid second face;

[0030] 530 - weight triangular pyramid third face; 540 - weight triangular pyramid bottom face;

[0031] 550 - weight triangular pyramid top point; 551 - weight triangular pyramid first measurement length;

[0032] 552 - first measurement angle; 600 - to-be-measured area; 601 - center point E;

[0033] 610 - to-be-measured object; 631 - distance one;

[0034] 632 - distance two; 633 - distance three; 634 - distance four; 635 - distance five;

[0035] 700 - intelligent calculator; 710 - display; 810 - left boundary one;

[0036] 820 - right boundary one; 830 - left boundary two; 840 - left boundary two;

[0037] 900 - tooth; 950 - mouth. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0039] As Figures 1 to 8 shown in the drawings to achieve the above object, the present application provides the following technical solutions: a camera projection coordinate measuring instrument with a weight triangular pyramid: as Figure 1 shown, the device contains a first camera 100, a support 110, a second camera 200, a third camera 300, a fourth camera 400, a weight triangular pyramid 500, an intelligent calculator 700 and a display 710;

[0040] Among them, the third camera 300 and the fourth camera 400 are optional items, and the to-be-measured object 610 and the weight triangular pyramid 500 are placed in the to-be-measured area 600.

[0041] The above camera projection coordinate measuring instrument, camera 100 at least two, each camera 100 at least five million pixels and have laser ranging function.

[0042] The weight triangular pyramid 500 has four points and six lines, and the length of the six lines is 10 MM, and the error is nanometer; the weight triangular pyramid 500 is Figure 3 There are four sides, respectively, the weight triangular pyramid first side 510, the weight triangular pyramid second side 520, the weight triangular pyramid third side 530 and the weight triangular pyramid bottom 540; the edges of the four sides are 10 MM, and the error is nanometer; all the angles are sixty degrees.

[0043] The intelligent calculator 700 is a computer, and a display 710 and a serial interface are further configured, and the serial interface is connected with the camera 100; common serial interfaces include USB interface and RS232 type.

[0044] The support 110 fixes the camera, so that the vertical distance 120 between the cameras is greater than 30 MM; the horizontal distance 130 between the cameras is greater than 30 MM; only in this way can the coordinate accuracy of the measured object be ensured, and the cameras do not have to be completely parallel, and an included angle can be provided to increase the visual angle of the measured object.

[0045] The known distance and angle of two or more cameras on the support 100 are used to shoot the measured area, and the weight triangular pyramid 500 is in the measured area 600; the same measured area 600 is photographed through the camera with the known angle distance, and the three-dimensional image and the coordinates of the measured area 600 and the measured object 610 are calculated according to the distance and angle of the camera and the measured area 600, the distance and angle of the camera and the weight triangular pyramid 500.

[0046] The measurement and calculation principle is divided into distance angle correction principle and three-dimensional calculation principle, which is described as follows:

[0047] The distance angle correction principle: each picture has the weight triangular pyramid 500, whether the length of the weight triangular pyramid 500 in the picture is 10.000000 mm is calculated, and the error is within 1 nanometer, the picture is enlarged or reduced so that the length of the weight triangular pyramid 500 in the picture is 10.000000 mm. Whether the angle length of the weight triangular pyramid 500 in the picture is 60.000 degrees is also calculated, and the picture is corrected in trapezoidal form according to the error. The weight triangular pyramid has four points and six lines, and the length of the six lines is 10 MM, and the error is nanometer, after the first calculation of the image, the length of the weight triangular pyramid in the picture is measured as L0, if it is not 10.000000 MM, then 10 MM is divided by the measured value L0 to obtain C0 (10 MM / measured value L0=C0); all the sizes of the image are multiplied by C0, and the length of the weight triangular pyramid in the picture is calculated again, which should be equal to 10.000000 MM. If it is not accurate in this measurement, re-operate.

[0048] The three-dimensional calculation principle:Figure 6 As shown, given the distances between the centers of the first camera 100 and the second camera 200 and the object 610, we can draw a circle with these two points as centers and the distance between the center of the first camera 100 and the object 610 as a radius of 631; and draw another circle with the distance between the center of the second camera 200 and the object 610 as a radius of 632. The two circles have two intersection points. The object 610 is located at one of these intersection points. One point can be eliminated from the directions of the first camera 100 and the second camera 200, leaving the other point as the location of the object 610, but this is only a two-dimensional coordinate system. The standard equation of the circle is (xa). 2 +(yb) 2 =r 2 Where r, a, and b are known, we can obtain the x and y coordinates of a set of circles. The x and y coordinates of the overlapping two circles are the two-dimensional coordinates of the object to be measured, 610.

[0049] like Figure 7 As shown, given the centers of the first camera 100, the second camera 200, and the fourth camera 400, and their distances from the object to be measured 610, we can draw a circle with these three points as centers, the distance between the center of the first camera 100 and the object to be measured 610 as radius 3 (633), the distance between the center of the second camera 200 and the object to be measured 610 as radius 4 (634), and the distance between the center of the fourth camera 400 and the object to be measured 610 as radius 5 (635). These three circles have two intersection points. The object to be measured 610 is located at one of the intersection points of these two circles. One point can be eliminated from the directions of the first camera 100 and the second camera 200, leaving the other point as the location of the object to be measured 610. Its coordinates are the three-dimensional coordinates.

[0050] If the center of the sphere is (a, b, c) and the radius is r, then the standard equation of the sphere is (xa). 2 +(yb) 2 +(zc) 2 =r 2

[0051] When the coordinates of the three sphere centers (a, b, c) and the radius r are known,

[0052] Each yields a spherical combination (x, y, z).

[0053] The intersection of the three spheres (x, y, z) represents their three-dimensional coordinates.

[0054] This invention also proposes a measurement and calculation method for a camera projection coordinate measuring instrument with a weighted triangular pyramid, comprising the following steps:

[0055] S10, image collection: two or more cameras simultaneously shoot the measured area 600, the measured area 600 is placed with the weight triangular pyramid 500, the camera respectively shoots two-dimensional image of different angles of the measured area 600, the moving support 110 shoots again, and the new two-dimensional image of different angles of the measured area 600 is obtained, four or more two-dimensional images are corrected by the angle and length of the weight triangular pyramid 500;

[0056] S20, length correction: the intelligent calculator 700 calculates the primary data of the two or more images transmitted by the camera; the primary data includes the first measured length 551 and the first measured angle 552, the intelligent calculator 700 corrects the picture angle and size, so that the corrected angle is 60 degrees and the length is 10 mm;

[0057] Wherein, the first measured length 551 is L0, the parameter C0 is obtained by subtracting 10 mm, the picture is enlarged by C0 times, C0 is in the range of 0.995-1.005, and the data beyond the range is invalid;

[0058] S30, distance calculation: according to the angle of the weight triangular pyramid 500 in the image, the three-dimensional coordinate relationship between the two or more cameras and the weight triangular pyramid 500 is obtained, the top vertex 550 of the weight triangular pyramid 500 is taken as the three-dimensional reference point, the three-dimensional coordinates of the center points A101, B201, C301 and D401 of the cameras are obtained, and the included angle between the cameras and the distance from the top vertex 550 are indirectly obtained;

[0059] Wherein, the calculation method of each point is:

[0060] The standard equation of the sphere is (x-a) 2 +(y-b) 2 +(z-c) 2 =r 2

[0061] When the three spherical center coordinates (a, b, c) and the radius r are known,

[0062] Each gets a spherical combination (x, y, z),

[0063] The intersection of the three spheres (x, y, z) is the three-dimensional coordinate;

[0064] S40, three-dimensional coordinate making: the intelligent calculator 700 calculates the three-dimensional coordinates of all points of the measured area 600 and the measured object 610 image by using the known three-dimensional coordinates, the distance and the center point of the camera on the support 110, and the top vertex 550 of the weight triangular pyramid in the image.

[0065] In some embodiments, in the image collection of step S10, as Figure 4As shown, there are four cameras: camera 100, camera 200, camera 300, and camera 400; their center points are A101, B401, C301, and D401. The distances between these four center points and the vertex F501 of the triangular pyramid 500 are obtained using the camera's distance measurement function.

[0066] In step S20, during length correction, the intelligent calculator 700 obtains the distance parameters of each camera by scanning two corners of the triangular pyramid 500. The dimensions of the triangular pyramid 500 are first calculated for all directions and corrected by 10mm relative to the standard triangular pyramid 500. The angles in the diagram that are within 60 degrees of the standard triangular pyramid 500 are also corrected.

[0067] In step S30, during distance calculation, the intelligent calculator 700 utilizes the fact that all points of the object under test 610 have at least four distance data points relative to the camera center. Based on the principle of satellite positioning, using only three distances (the focal points of three spheres with known radii), the 3D coordinates of a point can be calculated. By calculating and analyzing all areas 600 under test, the 3D coordinates of all points on the object under test 610 can be obtained.

[0068] In step S40, the three-dimensional coordinates are generated, and the image of the object to be tested 610 can be generated based on the coordinates of all points.

[0069] One preferred option is that choosing the right camera size will affect the effect, such as... Figure 5 As shown, a 3D scan of the teeth 900 inside the mouth 950 is performed using a first camera 100 and a second camera 200. Because the mouth 950 partially obscures the viewpoints of the first camera 100 and the second camera 200, the visible left boundary (810) and right boundary (820) do not cover all teeth 900. Replacing these with smaller third cameras 300 and 400, a 3D scan of the teeth 900 inside the mouth 950 is performed. Because the mouth 950 does not obstruct the viewpoints of the third camera 300 and the fourth camera 400, the visible left boundary (810) and right boundary (820) cover all teeth 900. In this embodiment, an additional camera is placed above each of the existing cameras to ensure accurate 3D coordinates.

[0070] The preferred option is to ensure that the vertical distance between cameras 120 is greater than 10 mm and the horizontal distance between cameras 130 is greater than 10 mm, so as to guarantee the coordinate accuracy of the object under test 610. The cameras do not need to be completely parallel, but can have an angle between them, with the angle ranging from 75 to 175 degrees, in order to increase the viewing angle of the area under test 600.

[0071] Among them, the preferred solution three is that two or more cameras are arranged and connected to the intelligent computer 700, and the cameras are fixed on the support 110. The cameras shoot the to-be-measured area 600 at the same time, the gage triangular pyramid 500 is placed in the to-be-measured area 600, the cameras shoot two-dimensional images of different angles of the to-be-measured area 600 respectively, the support 110 is moved to shoot again, new two-dimensional images of different angles of the to-be-measured area 600 are obtained again, four or more two-dimensional images plus the known angles and lengths obtained from the gage triangular pyramid 500, through the calculation method of the intelligent computer 700, the three-dimensional image and coordinates of the to-be-measured area 600 can be obtained. When the number is three or more, the second shooting can be omitted.

[0072] Among them, the preferred solution four is that there are two or more gage triangular pyramids 500 in the same image, and the magnification can be multiplied by the slope of the straight line, the measurement value of the upper gage triangular pyramid 500 is L1, the measurement value of the lower gage triangular pyramid 500 is L2,

[0073] L1 / 10.000000MM=C1,

[0074] L2 / 10.000000MM=C2,

[0075] Then the image magnification is:

[0076] The height lower end magnification is L2 / 10.000000M=C2

[0077] The height upper end magnification is L1 / 10.000000M=C1

[0078] The middle section magnification is C1+its height ratio*(C2-C1)

[0079] Among them, the preferred solution five is that if the gage triangular pyramid 500 cannot be used, a known length straight line in the same image can be used instead.

[0080] The present application has the following technical effects:

[0081] 1. Two cameras are connected to the intelligent computer 700 respectively, and the cameras are fixed on the support 110. The cameras shoot the to-be-measured area at the same time, the gage triangular pyramid 500 is placed in the to-be-measured area, the cameras shoot two-dimensional images of different angles of the to-be-measured area 600 respectively, the support 110 is moved to shoot again, new two-dimensional images of different angles of the to-be-measured area 600 are obtained again, four or more two-dimensional images plus the known angles and lengths obtained from the gage triangular pyramid 500, through the calculation method of the intelligent computer 700, the three-dimensional image and coordinates of the to-be-measured area 600 can be obtained. When the number is three or more, the second shooting can be omitted.

[0082] 2、When three or more cameras are set, the second shooting can be omitted, and through three or more two-dimensional images and the known angle and length obtained from the plummet triangular pyramid 500, the three-dimensional image and coordinates of the measured area 600 and the measured object 610 can be obtained through the calculation method of the intelligent calculator 700, so as to shorten the operation time.

[0083] 3、All the shooting images have the plummet triangular pyramid 500, which can effectively verify the function when calculating the three-dimensional image and coordinates, increase the convenience and accuracy, and can correct the distance and angle error of the camera.

[0084] 4、The vertical distance 120 between the cameras is greater than 10 mm, and the horizontal distance 130 between the cameras is greater than 10 mm, so as to ensure the coordinate accuracy of the measured object 610, and the cameras do not have to be completely parallel, and can have an included angle to increase the visual angle of the measured object 600.

[0085] 5、The number of the plummet triangular pyramid 500 is increased, the image can be corrected in slope according to the length of the plummet triangular pyramid 500, the error is reduced to be smaller, and the coordinate accuracy of the measured object 610 is ensured.

[0086] Although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art can modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features, and any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application should be included in the protection scope of the present application.

[0087] The above is only the preferred specific implementation of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art can make equivalent replacement or change according to the technical solutions and the inventive concept of the present application within the technical range disclosed by the present application, which should be included in the protection scope of the present application.

Claims

1. A method for measuring and calculating a camera-projection coordinate measuring instrument with a weight triangular pyramid, characterized in that, The application discloses a camera projection coordinate measuring instrument with a weight triangular pyramid, which comprises two or more cameras, a weight triangular pyramid (500) and an intelligent calculator (700), wherein the two or more cameras with a laser ranging function are arranged on a support (110) to shoot a to-be-measured area (600), and the weight triangular pyramid (500) is arranged in the to-be-measured area (600); the intelligent calculator (700) calculates primary data and corrects picture information of the camera; the three-dimensional coordinates of all points of the to-be-measured area (600) and a to-be-measured object (610) are calculated by using the center points of the cameras on the support (110) and the weight triangular pyramid vertex (550) in the image; and the measuring method of the camera projection coordinate measuring instrument with the weight triangular pyramid comprises the following steps: S10, image acquisition: two or more cameras simultaneously shoot the to-be-measured area (600), the weight triangular pyramid (500) is arranged in the to-be-measured area (600), the two-dimensional images of different angles of the to-be-measured area (600) are obtained by shooting through the cameras, the support (110) is moved to shoot again, and new two-dimensional images of different angles of the to-be-measured area (600) are obtained, and the four or more two-dimensional images are corrected in angle and length through the weight triangular pyramid (500); S20, length correction: the intelligent calculator (700) calculates primary data of two or more images transmitted by the camera; the primary data comprises a first measured length (551) and a first measured angle (552), and the intelligent calculator (700) corrects the angle and size of the picture, so that the corrected angle is 60 degrees and the length is 10 mm; wherein the first measured length (551) is L0, a parameter C0 is obtained by subtracting 10 mm, the picture is enlarged by C0 times, and C0 is in the range of 0.995-1.005, and data beyond the range is invalid; S30, distance calculation: the three-dimensional coordinate relationship between the two or more cameras and the weight triangular pyramid (500) is obtained according to the angle of the weight triangular pyramid (500) in the image, the three-dimensional coordinates of the center points A (101), B (201), C (301) and D (401) of the cameras are obtained by taking the weight triangular pyramid vertex (550) in the weight triangular pyramid (500) as a three-dimensional reference point, and the included angle between the cameras and the distance from the weight triangular pyramid vertex (550) are indirectly obtained; wherein the calculation method of each point is as follows: when the three spherical center coordinates (a, b, c) and the radius r are known, The standard equation of a sphere with center (a, b, c) and radius r is (x-a) 2 +(y-b) 2 +(z-c) 2 =r 2 each spherical surface combination (x, y, z) is obtained, (x, y, z) obtained by intersecting the three spherical surfaces is the three-dimensional coordinate; S40, three-dimensional coordinate making: the three-dimensional coordinates of all points of the to-be-measured area (600) and the to-be-measured object (610) are calculated by using the center points of the cameras on the support (110) with known three-dimensional coordinates, distance and angle and the weight triangular pyramid vertex (550) in the image. In step S10, the number of cameras is two or more, and when the number is three or more, the second shooting can be omitted.

2. The method for measuring and calculating of a camera-projection coordinate measuring machine with a weight triangular pyramid according to claim 1, characterized in that, ​ 3. The method of claim 1, wherein the method further comprises: calculating the height of the triangular pyramid by using the following equation: h = (a + b + c) - 2d, wherein a, b, and c are the lengths of the three edges of the triangular pyramid, and d is the length of the diagonal of the triangular pyramid. In step S10, the inter-camera vertical distance (120) is greater than 10MM, the inter-camera horizontal distance (130) is greater than 10MM, each camera is not parallel with an included angle, and the angle is in the range of 75-175 degrees.

4. The measurement and calculation method of a camera projection coordinate measuring instrument with a weighted triangular pyramid according to claim 1, characterized in that, In step S20, the number of weight triangular pyramids (500) is 2-4, and the image magnification ratio is calculated in proportion to the slope of the straight line.

5. The measurement and calculation method of a camera projection coordinate measuring instrument with a standard triangular pyramid as described in claim 1, characterized in that, In step S30, only two angles of the weight triangular pyramid (500) in the image are needed to restore the shape of the entire set of weight triangular pyramids (500); under the condition of no weight triangular pyramid (500), the size is input by the known length straight line instead.

6. The method of claim 1, wherein the method further comprises: The support (110) is fixed to the two-dimensional and above position movement controller, so that the support (110) has stable and non-shaking conditions, and the intelligent calculator (700) displays the three-dimensional image and coordinates of the to-be-measured area (600) and the to-be-measured object (610) in real time.

Images