Reconfigurable networking visual field measurement system

Abstract

The invention relates to a reconfigurable networking visual field measurement system, and belongs to the technical field of geometric parameter measurement. The measured piece module is arranged at the central position of the measurement environment; the target and orientation module is mounted on and near the surface of the measured piece module; the fixed position measurement module and the slide rail measurement module are both mounted around the measured piece module to measure the measured piece module; the fixed position measurement module and the slide rail measurement module are electrically connected with the measurement and control module; the measurement and control module realizes rotation control and image acquisition of the fixed position measurement module; the measurement and control module realizes sliding control, rotation control and image acquisition of the sliding rail measurement module; the measurement and control module realizes real-time calculation and visual display of geometric parameter information of structural deformation, displacement, position and pose of the measured piece module; according to the invention, geometric parameters such as structural deformation, displacement, position, pose and the like under static load, pressure loading or motion working conditions can be effectively measured.

Description

Technical Field

[0001] The invention belongs to the technical field of geometric parameter measurement and relates to a reconfigurable networked visual field measurement system. Background Art

[0002] The accurate measurement of geometric parameters such as structural deformation, displacement, position, and posture under static or moving conditions is the key to evaluating the structural bearing capacity and mechanical properties. However, for static load conditions, the measurement of geometric parameters such as structural deformation, displacement, position, and posture currently mainly adopts contact displacement meters such as resistive displacement meters and extensometers or optical measurement methods such as monocular or binocular photography and digital speckle. However, for products of different sizes, the real-time measurement of the above geometric parameters under static load conditions has problems such as poor versatility, low measurement efficiency, and poor accuracy. For moving conditions, the measurement of geometric parameters such as structural deformation, displacement, position, and posture currently mainly adopts resistive strain gauges or small field of view optical measurement methods. The current conventional methods have problems such as poor applicability, limited measurement parameters, difficulty in full-field real-time measurement, and difficulty in dynamic measurement. At present, whether it is the conventional measurement method of structural geometric parameters under static load conditions or the measurement method under moving conditions, it is far from meeting the demand for accurate measurement of geometric parameters such as structural deformation, displacement, position, and posture under static or moving conditions. Summary of the invention

[0003] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art and to propose a reconfigurable networked visual field measurement system that can effectively realize the measurement of geometric parameters such as structural deformation, displacement, position, and posture under static load, pressure loading, or motion conditions.

[0004] The solution of the present invention is: A reconfigurable networked visual field measurement system includes a measured object module, a target and orientation module, a fixed position measurement module, a slide rail measurement module and a measurement and control module; The measured object module is arranged at the center position of the measurement environment; the target and orientation modules are installed on and near the surface of the measured object module; the fixed position measurement module is installed on the wall around the measured object module to realize the measurement of the measured object module; the slide rail measurement module is arranged around the measured object module to realize the measurement of the measured object module; the fixed position measurement module and the slide rail measurement module are both electrically connected to the measurement and control module; the measurement and control module realizes the rotation control and image acquisition of the fixed position measurement module; the measurement and control module realizes the sliding control, rotation control and image acquisition of the slide rail measurement module; the measurement and control module realizes the real-time solution and visual display of the structural deformation, displacement, position, posture geometric parameter information of the measured object module.

[0005] In the above-mentioned reconfigurable networked visual field measurement system, the device under test module includes a device under test support platform and a device under test; wherein the device under test support platform is placed horizontally; the device under test is arranged on the upper surface of the device under test support platform; the device under test support platform is a fixed platform or a moving platform; the device under test support platform fixes the device under test by means of a clamp or a connecting tool.

[0006] In the above-mentioned reconfigurable networked visual field measurement system, the target and orientation module includes a first measured target, a second measured target, a third measured target, a fourth measured target, a fifth measured target, a sixth measured target, a first external orientation device, a second external orientation device, a third external orientation device, a fourth external orientation device, a fifth external orientation device and a sixth external orientation device; The first target to be measured, the second target to be measured, the third target to be measured, the fourth target to be measured, the fifth target to be measured, and the sixth target to be measured are arranged at the positions of the to-be-measured marking points on the surface of the test piece according to the test requirements of the test piece; The first external orientation device, the second external orientation device, the third external orientation device, the fourth external orientation device, the fifth external orientation device, and the sixth external orientation device are arranged near the measured object.

[0007] In the above-mentioned reconfigurable networked visual field measurement system, a measurement coordinate system is established and a single-camera mobile photography method is adopted to obtain a rigid coordinate system transfer relationship chain between the first external orientation device, the second external orientation device, the third external orientation device, the fourth external orientation device, the fifth external orientation device and the sixth external orientation device; the measurement coordinate system adopts a Cartesian coordinate system.

[0008] In the above-mentioned reconfigurable networked visual field measurement system, the fixed position measurement module includes a first fixed position camera, a second fixed position camera, a third fixed position camera, a fourth fixed position camera, a fifth fixed position camera, a sixth fixed position camera, a seventh fixed position camera, an eighth fixed position camera, a ninth fixed position camera, a tenth fixed position camera, an eleventh fixed position camera, a twelfth fixed position camera, a thirteenth fixed position camera, a fourteenth fixed position camera, a fifteenth fixed position camera, a sixteenth fixed position camera, a first fixed position rotating platform, a second fixed position rotating platform, a third fixed position rotating platform, a fourth fixed position rotating platform, a fifth fixed position rotating platform, a sixth fixed position rotating platform, a seventh fixed position rotating platform, an eighth fixed position rotating platform, a ninth fixed position rotating platform, a tenth fixed position rotating platform, an eleventh fixed position rotating platform, a twelfth fixed position rotating platform, a thirteenth fixed position rotating platform, a fourteenth fixed position rotating platform, a fifteenth fixed position rotating platform, and a sixteenth fixed position rotating platform; The above-mentioned 16 fixed-position cameras correspond one by one to the 16 fixed-position rotating pan-tilts; each fixed-position camera is installed on the corresponding fixed-position rotating pan-tilt; the fixed-position rotating pan-tilt is installed on the wall around the measured object, and during the measurement process, the spatial position coordinates of each fixed-position rotating pan-tilt remain unchanged; each fixed-position rotating pan-tilt drives the corresponding fixed-position camera to realize horizontal rotation and pitch rotation through rotation.

[0009] In the above-mentioned reconfigurable networked visual field measurement system, the first fixed position rotating pan-tilt, the second fixed position rotating pan-tilt, the third fixed position rotating pan-tilt, and the fourth fixed position rotating pan-tilt are a group, which are arranged on the right side of the measured object, and drive the corresponding first fixed position camera, second fixed position camera, third fixed position camera, and fourth fixed position camera to realize observation of the measured object; The fifth fixed position rotating platform, the sixth fixed position rotating platform, the seventh fixed position rotating platform and the eighth fixed position rotating platform are a group, which are arranged at the rear side of the measured object, and drive the corresponding fifth fixed position camera, the sixth fixed position camera, the seventh fixed position camera and the eighth fixed position camera to realize the observation of the measured object; The ninth fixed position rotating platform, the tenth fixed position rotating platform, the eleventh fixed position rotating platform and the twelfth fixed position rotating platform are a group, which are arranged on the right side of the measured object, and drive the corresponding ninth fixed position camera, the tenth fixed position camera, the eleventh fixed position camera and the twelfth fixed position camera to observe the measured object; The thirteenth fixed-position rotating pan-tilt head, the fourteenth fixed-position rotating pan-tilt head, the fifteenth fixed-position rotating pan-tilt head and the sixteenth fixed-position rotating pan-tilt head are a group, which are arranged in front of the measured object, and drive the corresponding thirteenth fixed-position camera, fourteenth fixed-position camera, fifteenth fixed-position camera and sixteenth fixed-position camera to realize observation of the measured object.

[0010] In the above-mentioned reconfigurable networked visual field measurement system, the horizontal rotation angle range of the fixed-position rotating pan / tilt head is greater than or equal to 90°, and the pitch rotation angle range is greater than or equal to 60°.

[0011] In the above-mentioned reconfigurable networked visual field measurement system, the slide rail measurement module includes a first slide rail camera, a second slide rail camera, a third slide rail camera, a fourth slide rail camera, a fifth slide rail camera, a sixth slide rail camera, a seventh slide rail camera, an eighth slide rail camera, a first sliding pan head, a second sliding pan head, a third sliding pan head, a fourth sliding pan head, a fifth sliding pan head, a sixth sliding pan head, a seventh sliding pan head, an eighth sliding pan head, a first slide rail support tooling, a second slide rail support tooling, a third slide rail support tooling, a fourth slide rail support tooling, a first slide rail, a second slide rail, a third slide rail, and a fourth slide rail; Among them, the first slide rail support tooling is vertically arranged on the right side of the measured object; the second slide rail support tooling is vertically arranged on the rear side of the measured object; the third slide rail support tooling is vertically arranged on the left side of the measured object; the fourth slide rail support tooling is vertically arranged on the front side of the measured object; the first slide rail is vertically installed on the first slide rail support tooling; the second slide rail is vertically installed on the second slide rail support tooling; the third slide rail is vertically installed on the third slide rail support tooling; the fourth slide rail is vertically installed on the fourth slide rail support tooling; The first slide rail camera is installed on the first slide rail through the first sliding pan head; the second slide rail camera is installed on the first slide rail through the second sliding pan head, which is located above the first slide rail camera; The third slide rail camera and the fourth slide rail camera are respectively installed on the second slide rail through the third sliding pan head and the fourth sliding pan head, and the fourth slide rail camera is located above the third slide rail camera; The fifth slide track camera and the sixth slide track camera are respectively installed on the third slide track through the fifth sliding pan head and the sixth sliding pan head, and the fifth slide track camera is located above the sixth slide track camera; The seventh slide camera and the eighth slide camera are respectively installed on the fourth slide rail through the seventh sliding head and the eighth sliding head, and the seventh slide camera is located above the eighth slide camera.

[0012] In the above-mentioned reconfigurable networked visual field measurement system, the measurement and control module includes a measurement and control circuit, a synchronization trigger device, and a host computer; The input end of the measurement and control circuit is connected to all fixed position cameras, fixed position rotating pan-tilt heads, slide rail cameras, sliding pan-tilt heads, and slide rails respectively; the output end of the measurement and control circuit is connected to the input end of the synchronous trigger device; and the output end of the synchronous trigger device is connected to the host computer.

[0013] In the above-mentioned reconfigurable networked visual field measurement system, the working process of the measurement and control module is as follows: The synchronous trigger device realizes the synchronous camera light source switching and synchronous visual image acquisition of all fixed-position cameras and sliding rail cameras through the host computer; the fixed-position rotating gimbal and the sliding gimbal are respectively controlled to rotate horizontally and in pitch with a large field of view synchronously according to the established program through the host computer; all the slide rails are respectively controlled to slide up and down synchronously according to the established program through the host computer; the host computer also realizes the real-time calculation of the rigid coordinate system transfer relationship chain between the measurement coordinate system and the first external orientation device, the second external orientation device, the third external orientation device, the fourth external orientation device, the fifth external orientation device, and the sixth external orientation device, the relative positioning and absolute positioning dynamic calculation of the real-time station orientation parameters of the fixed-position camera and the sliding rail camera, and the real-time solution and visualization display of the structural deformation, displacement, position, and posture geometric parameter information under various working conditions of the entire reconfigurable networked visual field measurement system.

[0014] The beneficial effects of the present invention compared with the prior art are: (1) The present invention provides a method for measuring structural geometric parameters with full-field measurement, non-contact, high precision and universality, which can solve the problem of difficulty in universal and efficient measurement of geometric parameters of structures of different sizes under static load, pressure loading or motion conditions, and can achieve high-precision deformation, displacement, position, posture and other measurements of static, dynamic and motion structural mechanisms; (2) The present invention adopts a reconfigurable network visual measurement design method, which effectively solves the problem that conventional measurement methods are difficult to measure in multiple modes, and achieves the problem of meeting different measurement objects, different measurement states, and different measurement requirements while using relatively few cameras, with strong overall adaptability; (4) The present invention is an automated measurement method that uses designs such as automatic pan / tilt control, automatic guide rail control, automatic camera shutter triggering, and one-button automated operation, and has the advantages of high-precision and high-efficiency measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the reconfigurable networked visual field measurement system of the present invention. DETAILED DESCRIPTION

[0016] The present invention will be further described below in conjunction with the embodiments.

[0017] In view of some shortcomings of the current measurement methods of multiple geometric parameters of structures under static load or motion conditions, a reconfigurable networked visual measurement method and system based on multi-measurement mode reconfigurable networking technology is invented, which is highly versatile, fully automated, high-precision, has full spatial coverage, and is easy to maintain. It mainly solves the problem of difficulty in high-precision measurement of geometric parameters such as structural deformation, displacement, position, and posture of large engineering components such as aerospace under static load, pressure loading or motion conditions.

[0018] The present invention provides a reconfigurable networked visual field measurement system, which specifically includes a measured object module, a target and orientation module, a fixed position measurement module, a slide rail measurement module and a measurement and control module. The measured object module is arranged at the center of the measurement environment; the target and orientation module are installed on the surface of the measured object module and at a nearby position; the fixed position measurement module is installed on the wall around the measured object module; the measurement of the measured object module is realized; the slide rail measurement module is arranged around the measured object module to realize the measurement of the measured object module; the fixed position measurement module and the slide rail measurement module are both electrically connected to the measurement and control module; the measurement and control module realizes the rotation control and image acquisition of the fixed position measurement module; the measurement and control module realizes the sliding control, rotation control and image acquisition of the slide rail measurement module; the measurement and control module realizes the real-time solution and visual display of the structural deformation, displacement, position, and posture geometric parameter information of the measured object module.

[0019] like Figure 1 As shown, the DUT module includes a DUT support platform 8 and a DUT 9; wherein the DUT support platform 8 is placed horizontally; the DUT 9 is arranged on the upper surface of the DUT support platform 8; the DUT support platform 8 is a fixed platform or a moving platform; the DUT support platform 8 fixes the DUT 9 by clamping or connecting tooling.

[0020] The target and orientation module includes a first measured target 10-1, a second measured target 10-2, a third measured target 10-3, a fourth measured target 10-4, a fifth measured target 10-5, a sixth measured target 10-6, a first external orientation device 11, a second external orientation device 12, a third external orientation device 13, a fourth external orientation device 14, a fifth external orientation device 15 and a sixth external orientation device 16.

[0021] Among them, the first measured target 10-1, the second measured target 10-2, the third measured target 10-3, the fourth measured target 10-4, the fifth measured target 10-5, and the sixth measured target 10-6 are all arranged at the positions of the mark points to be measured on the surface of the measured object 9 according to the test requirements of the measured object 9, including the positions of the deformation, displacement, position, and posture geometric parameter measurement mark points.

[0022] The first external orientation device 11 , the second external orientation device 12 , the third external orientation device 13 , the fourth external orientation device 14 , the fifth external orientation device 15 , and the sixth external orientation device 16 are arranged near the measured object 9 .

[0023] By establishing a measurement coordinate system 7 and adopting a single-camera mobile photography method, a rigid coordinate system transfer relationship chain between the first external orientation device 11, the second external orientation device 12, the third external orientation device 13, the fourth external orientation device 14, the fifth external orientation device 15 and the sixth external orientation device 16 is obtained; the measurement coordinate system 7 adopts a Cartesian coordinate system.

[0024] The fixed position measurement module includes a first fixed position camera 1-1, a second fixed position camera 1-2, a third fixed position camera 1-3, a fourth fixed position camera 1-4, a fifth fixed position camera 1-5, a sixth fixed position camera 1-6, a seventh fixed position camera 1-7, an eighth fixed position camera 1-8, a ninth fixed position camera 1-9, a tenth fixed position camera 1-10, an eleventh fixed position camera 1-11, a twelfth fixed position camera 1-12, a thirteenth fixed position camera 1-13, a fourteenth fixed position camera 1-14, a fifteenth fixed position camera 1-15, a sixteenth fixed position camera 1-16, a first fixed position rotating pan / tilt 2- 1. The second fixed position rotating platform 2-2, the third fixed position rotating platform 2-3, the fourth fixed position rotating platform 2-4, the fifth fixed position rotating platform 2-5, the sixth fixed position rotating platform 2-6, the seventh fixed position rotating platform 2-7, the eighth fixed position rotating platform 2-8, the ninth fixed position rotating platform 2-9, the tenth fixed position rotating platform 2-10, the eleventh fixed position rotating platform 2-11, the twelfth fixed position rotating platform 2-12, the thirteenth fixed position rotating platform 2-13, the fourteenth fixed position rotating platform 2-14, the fifteenth fixed position rotating platform 2-15, and the sixteenth fixed position rotating platform 2-16.

[0025] The above-mentioned 16 fixed-position cameras correspond one by one to the 16 fixed-position rotating pan-tilts; each fixed-position camera is installed on the corresponding fixed-position rotating pan-tilt; the fixed-position rotating pan-tilt is installed on the wall around the measured object 9, and during the measurement process, the spatial position coordinates of each fixed-position rotating pan-tilt remain unchanged; each fixed-position rotating pan-tilt drives the corresponding fixed-position camera to realize horizontal rotation and pitch rotation through rotation.

[0026] 6. A reconfigurable networked visual field measurement system according to claim 5, characterized in that: the first fixed position rotating pan-tilt head 2-1, the second fixed position rotating pan-tilt head 2-2, the third fixed position rotating pan-tilt head 2-3, and the fourth fixed position rotating pan-tilt head 2-4 are a group, which are arranged on the right side of the measured object 9, and drive the corresponding first fixed position camera 1-1, the second fixed position camera 1-2, the third fixed position camera 1-3, and the fourth fixed position camera 1-4 to realize the observation of the measured object 9.

[0027] The fifth fixed position rotating platform 2-5, the sixth fixed position rotating platform 2-6, the seventh fixed position rotating platform 2-7, and the eighth fixed position rotating platform 2-8 are a group, which are arranged on the rear side of the measured object 9, and drive the corresponding fifth fixed position camera 1-5, the sixth fixed position camera 1-6, the seventh fixed position camera 1-7, and the eighth fixed position camera 1-8 to realize the observation of the measured object 9.

[0028] The ninth fixed position rotating platform 2-9, the tenth fixed position rotating platform 2-10, the eleventh fixed position rotating platform 2-11, and the twelfth fixed position rotating platform 2-12 are a group, which are arranged on the right side of the measured object 9, and drive the corresponding ninth fixed position camera 1-9, the tenth fixed position camera 1-10, the eleventh fixed position camera 1-11, and the twelfth fixed position camera 1-12 to realize the observation of the measured object 9.

[0029] The thirteenth fixed-position rotating platform 2-13, the fourteenth fixed-position rotating platform 2-14, the fifteenth fixed-position rotating platform 2-15, and the sixteenth fixed-position rotating platform 2-16 are a group, which are arranged in front of the measured object 9, and drive the corresponding thirteenth fixed-position camera 1-13, the fourteenth fixed-position camera 1-14, the fifteenth fixed-position camera 1-15, and the sixteenth fixed-position camera 1-16 to realize the observation of the measured object 9.

[0030] The horizontal rotation angle range of the fixed-position pan / tilt head is greater than or equal to 90°, and the pitch rotation angle range is greater than or equal to 60°.

[0031] The slide rail measurement module includes a first slide rail camera 3-1, a second slide rail camera 3-2, a third slide rail camera 3-3, a fourth slide rail camera 3-4, a fifth slide rail camera 3-5, a sixth slide rail camera 3-6, a seventh slide rail camera 3-7, an eighth slide rail camera 3-8, a first sliding platform 4-1, a second sliding platform 4-2, a third sliding platform 4-3, a fourth sliding platform 4-4, a fifth sliding platform 4-5, a sixth sliding platform 4-6, a seventh sliding platform 4-7, an eighth sliding platform 4-8, a first slide rail support tooling 5-1, a second slide rail support tooling 5-2, a third slide rail support tooling 5-3, a fourth slide rail support tooling 5-4, a first slide rail 6-1, a second slide rail 6-2, a third slide rail 6-3, and a fourth slide rail 6-4.

[0032] Among them, the first slide rail supporting tooling 5-1 is vertically arranged on the right side of the measured part 9; the second slide rail supporting tooling 5-2 is vertically arranged on the rear side of the measured part 9; the third slide rail supporting tooling 5-3 is vertically arranged on the left side of the measured part 9; the fourth slide rail supporting tooling 5-4 is vertically arranged on the front side of the measured part 9; the first slide rail 6-1 is vertically installed on the first slide rail supporting tooling 5-1; the second slide rail 6-2 is vertically installed on the second slide rail supporting tooling 5-2; the third slide rail 6-3 is vertically installed on the third slide rail supporting tooling 5-3; the fourth slide rail 6-4 is vertically installed on the fourth slide rail supporting tooling 5-4.

[0033] The first slide camera 3-1 is installed on the first slide rail 6-1 through the first sliding platform 4-1; the second slide camera 3-2 is installed on the first slide rail 6-1 through the second sliding platform 4-2, which is located above the first slide camera 3-1.

[0034] The third slide camera 3-3 and the fourth slide camera 3-4 are installed on the second slide rail 6-2 through the third sliding platform 4-3 and the fourth sliding platform 4-4 respectively, and the fourth slide camera 3-4 is located above the third slide camera 3-3.

[0035] The fifth slide camera 3-5 and the sixth slide camera 3-6 are respectively installed on the third slide rail 6-3 through the fifth sliding platform 4-5 and the sixth sliding platform 4-6, and the fifth slide camera 3-5 is located above the sixth slide camera 3-6.

[0036] The seventh slide camera 3-7 and the eighth slide camera 3-8 are installed on the fourth slide rail 6-4 through the seventh sliding platform 4-7 and the eighth sliding platform 4-8 respectively, and the seventh slide camera 3-7 is located above the eighth slide camera 3-8.

[0037] The measurement and control module includes a measurement and control circuit 17, a synchronous trigger device 18, and a host computer 19. The input end of the measurement and control circuit 17 is respectively connected to all fixed position cameras, fixed position rotating pan / tilts, slide rail cameras, sliding pan / tilts, and slide rails; the output end of the measurement and control circuit 17 is connected to the input end of the synchronous trigger device 18; and the output end of the synchronous trigger device 18 is connected to the host computer 19.

[0038] The working process of the measurement and control module is: The synchronous trigger device 18 realizes the synchronous camera light source switch and synchronous visual image acquisition of all fixed-position cameras and sliding rail cameras through the host computer 19; the fixed-position rotating gimbal and the sliding gimbal are respectively controlled to rotate horizontally and in elevation with a large field of view according to the established program through the host computer 19; all the slide rails are respectively controlled to slide up and down synchronously according to the established program through the host computer 19; the host computer 19 also realizes the real-time calculation of the rigid coordinate system transfer relationship chain between the measurement coordinate system 7 and the first external orientation device 11, the second external orientation device 12, the third external orientation device 13, the fourth external orientation device 14, the fifth external orientation device 15, and the sixth external orientation device 16, the relative positioning and absolute positioning dynamic calculation of the real-time station orientation parameters of the fixed-position camera and the sliding rail camera, and the real-time solution and visualization display of the structural deformation, displacement, position, and posture geometric parameter information under various working conditions of the entire reconfigurable networked visual field measurement system.

[0039] The working modes of the present invention include the following: Mode 1: Fixed binocular networking mode 1. Installation and connection of measurement system: Figure 1 The relationship completes the installation and connection of the reconfigurable networked visual field measurement system.

[0040] 2. Binocular teaming in fixed binocular mode: Before the test, all fixed position cameras and slide rail cameras are teamed in pairs according to the size of the object under test 9, the location of the measurement point and the specific measurement requirements.

[0041] 3. Target placement: Paste the targets at different positions of the measured object 9 according to the measurement requirements.

[0042] 4. Installation of measurement coordinate system and external orientation device: Install the measurement coordinate system. The measurement coordinate system 7 is generally a fixed-position public coding point with a global orientation function, and the number of points should be >6. The measurement coordinate system 7 should generally be a rectangular Cartesian coordinate system, which is consistent with the three-axis product coordinate system of the corresponding test piece 9. The measurement coordinate system can also be fixedly installed according to the principle of consistent displacement or deformation measurement direction required by the test outline. The external orientation device should be installed and fixed near the test piece 9, and arranged more evenly according to the distribution space range of the target to be measured and the actual site conditions. The number of arrangements is not limited to 6, and the number can be appropriately increased or decreased according to actual needs. The field of view of all measurement stations of all fixed-position cameras and all slide rail cameras during the entire measurement process can cover at least one or more of all external orientation devices, ensuring that the relative positioning of the measurement stations of all fixed-position cameras and the measurement stations of the slide rail cameras can be achieved through external orientation devices installed at different spatial positions.

[0043] 5. Field of view adjustment: Start the measurement and control module adjustment to perform synchronous large-field-angle horizontal and pitch rotation control on all the fixed-position rotating gimbals and sliding gimbals that have completed the teaming according to the established procedures through the host computer 19, and perform synchronous up and down sliding control on all the slide rails according to the established procedures through the host computer 19, so as to achieve effective field of view coverage of all established measurement points of the measured object 9, the measurement coordinate system 7 and the external orientation device.

[0044] 6. System calibration. According to the actual installation positions of the target and the orientation module, the binocular team camera in mode 1 fixed binocular mode is calibrated before measurement. During the calibration process, the calibration plate should be placed near the different targets to be measured during the actual measurement, as well as the measurement coordinate system and the external orientation device installation position, and no less than 10 calibration images should be collected.

[0045] 7. Measurement of rigid coordinate system transfer relationship chain: Before measurement, a single-camera mobile photography technology is used to collect monocular images of the measurement coordinate system 7 and the first external orientation device 11, the second external orientation device 12, the third external orientation device 13, the fourth external orientation device 14, the fifth external orientation device 15, and the sixth external orientation device 16 in multiple different orientations to establish a rigid coordinate system transfer relationship chain between the measurement coordinate system 7 and the first external orientation device 11, the second external orientation device 12, the third external orientation device 13, the fourth external orientation device 14, the fifth external orientation device 15, and the sixth external orientation device 16.

[0046] 8. Construction of the world coordinate system for networked visual field measurement: Based on the external orientation device, the relative positioning relationship of the measurement positions of all fixed position cameras and the measurement positions of the slide rail camera is determined. Based on the measurement results of the rigid coordinate system transfer relationship chain completed in step 7, the absolute orientation relationship of the measurement positions of all fixed position cameras and the measurement positions of the slide rail camera is determined. Thus, the construction of the world coordinate system for networked visual field measurement based on the measurement coordinate system 7 is completed.

[0047] 9. Working condition simulation: simulate working conditions such as static load, pressure loading or motion according to the measurement conditions of the measured object 9.

[0048] 10. Dynamic synchronous acquisition of images: The host computer 19 is used to synchronize the camera light source switch of all fixed position cameras and slide rail cameras and synchronize the dynamic acquisition of visual images under different measurement states.

[0049] 11. Result calculation and display: Based on the collected synchronous visual images under different measurement states and the relative positioning relationship and absolute positioning relationship determined in step 8, the real-time solution and visualization display of geometric parameter information such as structural deformation, displacement, position, and posture under various working conditions of the entire reconfigurable networked visual field measurement system are carried out, and finally, the deformation, displacement, position, posture and other geometric parameters of the measured object 9 are effectively measured in the networked visual field measurement world coordinate system based on the measurement coordinate system 7.

[0050] Mode 2: Motion binocular networking mode 1. Installation and connection of measurement system: Figure 1 The relationship completes the installation and connection of the reconfigurable networked visual field measurement system.

[0051] 2. Binocular teaming in the moving binocular mode: Before the test, all fixed position cameras and slide rail cameras are teamed in pairs according to the size of the object under test 9, the location of the measurement point and the specific measurement requirements.

[0052] 3. Target placement: Paste the targets at different positions of the measured object 9 according to the measurement requirements.

[0053] 4. Installation of measurement coordinate system and external orientation device: Install the measurement coordinate system. The measurement coordinate system 7 is generally a fixed-position public coding point with a global orientation function, and the number of points should be >6. The measurement coordinate system 7 should generally be a rectangular Cartesian coordinate system, which is consistent with the three-axis product coordinate system of the corresponding test piece 9. The measurement coordinate system can also be fixedly installed according to the principle of consistent displacement or deformation measurement direction required by the test outline. The external orientation device should be installed and fixed near the test piece 9, and arranged more evenly according to the distribution space range of the target to be measured and the actual site conditions. The number of arrangements is not limited to 6, and the number can be appropriately increased or decreased according to actual needs. The field of view of all measurement stations of all fixed-position cameras and all slide rail cameras during the entire measurement process can cover at least one or more of all external orientation devices, ensuring that the relative positioning of the measurement stations of all fixed-position cameras and the measurement stations of the slide rail cameras can be achieved through external orientation devices installed at different spatial positions.

[0054] 5. Initial field of view adjustment: Start the measurement and control module adjustment and use the host computer 19 to perform synchronous large-field-angle horizontal and pitch rotation control on all the fixed-position rotating gimbals and sliding gimbals that have completed the teaming according to the established procedures. Use the host computer 19 to perform synchronous up and down sliding control on all the slide rails according to the established procedures to achieve effective field of view coverage of all established measurement points of the measured object 9, the measurement coordinate system 7 and the external orientation device.

[0055] 6. System calibration. The initial binocular team camera is calibrated before measurement according to the actual installation position of the target and the orientation module. During the calibration process, the calibration plate should be placed near the different targets to be measured during the actual measurement, as well as the measurement coordinate system and the external orientation device installation position, and no less than 10 calibration images should be collected.

[0056] 7. Measurement of rigid coordinate system transfer relationship chain: Before measurement, a single-camera mobile photography technology is used to collect monocular images of the measurement coordinate system 7 and the first external orientation device 11, the second external orientation device 12, the third external orientation device 13, the fourth external orientation device 14, the fifth external orientation device 15, and the sixth external orientation device 16 in multiple different orientations to establish a rigid coordinate system transfer relationship chain between the measurement coordinate system 7 and the first external orientation device 11, the second external orientation device 12, the third external orientation device 13, the fourth external orientation device 14, the fifth external orientation device 15, and the sixth external orientation device 16.

[0057] 8. Construction of the world coordinate system for initial measurement of the networked visual field: Based on the external orientation device, the relative positioning relationship of the measurement positions of all fixed-position cameras and the measurement positions of the slide rail cameras is determined. Based on the measurement results of the rigid coordinate system transfer relationship chain completed in step 7, the absolute orientation relationship of the measurement positions of all fixed-position cameras and the measurement positions of the slide rail cameras is determined. Thus, the construction of the world coordinate system for networked visual field measurement based on the measurement coordinate system 7 is completed.

[0058] 9. Dynamic synchronous acquisition of initial image: The upper computer 19 is used to synchronize the camera light source switch and the synchronous visual image acquisition of all fixed position cameras and slide rail cameras, and the acquisition state is recorded as A0.

[0059] 10. Working condition simulation: simulate working conditions such as static load and pressure loading according to the measurement conditions of the measured object 9.

[0060] 11. Dynamic synchronous image acquisition: The upper computer 19 is used to synchronize the camera light source switch and the synchronous visual image acquisition of all fixed position cameras and slide rail cameras, and the acquisition state is recorded as A1.

[0061] 12. Supplementary field of view adjustment: Under the same load conditions as step 9, start the measurement and control module adjustment and perform synchronous large field of view horizontal and pitch rotation control on all fixed-position rotating gimbals and sliding gimbals that have completed the teaming according to the established procedures through the host computer 19, so as to achieve multi-station supplementary field of view coverage of all established measurement points of the measured object 9, the measurement coordinate system 7 and the external orientation device.

[0062] 13. Dynamic synchronous acquisition of multi-station images: The upper computer 19 is used to synchronize the camera light source switch and the synchronous visual image acquisition of all fixed position cameras and slide rail cameras. The acquisition state is recorded as A2.

[0063] 14. Dynamically and synchronously collect images from multiple stations, repeat steps 12 and 13, and record the collection state as Ai until the predetermined measurement target can be completed.

[0064] 15. Construction of the measurement world coordinate system in the networked visual field Ai state: Based on the external orientation device, the relative positioning relationship of the measurement positions of all fixed position cameras and the measurement positions of the slide rail camera in the networked visual field Ai state is determined. Based on the measurement results of the rigid coordinate system transfer relationship chain completed in step 7, the absolute orientation relationship of the measurement positions of all fixed position cameras and the measurement positions of the slide rail camera in the networked visual field Ai state is determined. Thus, the construction of the networked visual field measurement world coordinate system based on the measurement coordinate system 7 in the networked visual field Ai state is completed.

[0065] 16. Result calculation and display: Based on the acquisition of synchronized visual images under different measurement states, the relative orientation and absolute orientation under the networked visual field Ai, and the measurement of the world coordinate system under the networked visual field Ai state, the real-time solution and visualization of geometric parameter information such as structural deformation, displacement, position, and posture under various working conditions of the entire reconfigurable networked visual field measurement system are performed, and finally the effective measurement of geometric parameters such as deformation, displacement, position, and posture of the measured object 9 is achieved in the networked visual field measurement world coordinate system based on the measurement coordinate system 7.

[0066] Mode 3: Fixed binocular + moving monocular networking mode 1. Installation and connection of measurement system: Figure 1 The relationship completes the installation and connection of the reconfigurable networked visual field measurement system.

[0067] 2. Determine the measurement mode. In mode 1, the fixed binocular mode, all fixed position cameras in the fixed position measurement module are grouped into binocular groups. Before the test, all fixed position cameras are grouped into pairs according to the size of the object under test 9, the location of the measurement point, and the specific measurement requirements; 3. Target placement: Paste the targets at different positions of the measured object 9 according to the measurement requirements.

[0068] 4. Installation of measurement coordinate system and external orientation device: Install the measurement coordinate system. The measurement coordinate system 7 is generally a fixed-position public coding point with a global orientation function, and the number of points should be >6. The measurement coordinate system 7 should generally be a rectangular Cartesian coordinate system, which is consistent with the three-axis product coordinate system of the corresponding test piece 9. The measurement coordinate system can also be fixedly installed according to the principle of consistent displacement or deformation measurement direction required by the test outline. The external orientation device should be installed and fixed near the test piece 9, and arranged more evenly according to the distribution space range of the target to be measured and the actual site conditions. The number of arrangements is not limited to 6, and the number can be appropriately increased or decreased according to actual needs. The field of view of all measurement stations of all fixed-position cameras and all slide rail cameras during the entire measurement process can cover at least one or more of all external orientation devices, ensuring that the relative positioning of the measurement stations of all fixed-position cameras and the measurement stations of the slide rail cameras can be achieved through external orientation devices installed at different spatial positions.

[0069] 5. Initial field of view adjustment: Start the measurement and control module adjustment and use the host computer 19 to perform synchronous large-field-angle horizontal and pitch rotation control on all the fixed-position rotating gimbals and sliding gimbals that have completed the teaming according to the established procedures. Use the host computer 19 to perform synchronous up and down sliding control on all the slide rails according to the established procedures to achieve effective field of view coverage of all established measurement points of the measured object 9, the measurement coordinate system 7 and the external orientation device.

[0070] 6. System calibration. According to the actual installation positions of the targets and orientation modules, the binocular team camera and the motion monocular camera in the fixed binocular + motion monocular networking mode are calibrated before measurement. During the calibration process, the calibration plate should be placed near the different targets to be measured during the actual measurement, as well as the measurement coordinate system and the installation position of the external orientation device, and no less than 10 calibration images should be collected.

[0071] 7. Measurement of rigid coordinate system transfer relationship chain: Before measurement, a single-camera mobile photography technology is used to collect monocular images of the measurement coordinate system 7 and the first external orientation device 11, the second external orientation device 12, the third external orientation device 13, the fourth external orientation device 14, the fifth external orientation device 15, and the sixth external orientation device 16 in multiple different orientations to establish a rigid coordinate system transfer relationship chain between the measurement coordinate system 7 and the first external orientation device 11, the second external orientation device 12, the third external orientation device 13, the fourth external orientation device 14, the fifth external orientation device 15, and the sixth external orientation device 16.

[0072] 8. Construction of the world coordinate system for initial measurement of the networked visual field: Based on the external orientation device, the relative positioning relationship of the measurement positions of all fixed-position cameras and the measurement positions of the slide rail cameras is determined. Based on the measurement results of the rigid coordinate system transfer relationship chain completed in step 7, the absolute orientation relationship of the measurement positions of all fixed-position cameras and the measurement positions of the slide rail cameras is determined. Thus, the construction of the world coordinate system for networked visual field measurement based on the measurement coordinate system 7 is completed.

[0073] 9. Dynamic synchronous acquisition of initial image: The upper computer 19 is used to synchronize the camera light source switch and the synchronous visual image acquisition of all fixed position cameras and slide rail cameras, and the acquisition state is recorded as A0.

[0074] 10. Working condition simulation: simulate working conditions such as static load and pressure loading according to the measurement conditions of the measured object 9.

[0075] 11. Dynamic synchronous image acquisition: The upper computer 19 is used to synchronize the camera light source switch and the synchronous visual image acquisition of all fixed position cameras and slide rail cameras, and the acquisition state is recorded as A1.

[0076] 12. Supplementary field of view adjustment: Under the same load conditions as step 9, start the measurement and control module adjustment to perform synchronous large field of view angle horizontal and pitch rotation control on all sliding gimbals through the host computer 19 according to the established procedures, and perform synchronous up and down sliding control on all slide rails through the host computer 19 according to the established procedures, so as to realize multi-station supplementary field of view coverage of all established measurement points of the measured object 9, the measurement coordinate system 7 and the external orientation device.

[0077] 13. Dynamic synchronous acquisition of multi-station images: The camera light source switch and synchronous visual image acquisition of all slide rail cameras are realized through the host computer 19. The acquisition state is recorded as A2.

[0078] 14. Dynamically and synchronously collect images from multiple stations, repeat steps 12 and 13, and record the collection state as Ai until the predetermined measurement target can be completed.

[0079] 15. Construction of the measurement world coordinate system in the networked visual field Ai state: Based on the external orientation device, the relative positioning relationship of the measurement stations of all slide rail cameras in the networked visual field Ai state is determined. Based on the measurement results of the rigid coordinate system transfer relationship chain completed in step 7, the absolute orientation relationship of the measurement stations of all slide rail cameras in the networked visual field Ai state is determined. Combined with the relative positioning relationship and absolute orientation relationship of the measurement stations of all fixed position cameras determined in step 8, the construction of the networked visual field measurement world coordinate system based on the measurement coordinate system 7 in the networked visual field Ai state is completed.

[0080] 16. Result calculation and display: Based on the acquisition of synchronized visual images under different measurement states, the relative orientation and absolute orientation under the networked visual field Ai, and the measurement of the world coordinate system under the networked visual field Ai state, the real-time solution and visualization of geometric parameter information such as structural deformation, displacement, position, and posture under various working conditions of the entire reconfigurable networked visual field measurement system are performed, and finally the effective measurement of geometric parameters such as deformation, displacement, position, and posture of the measured object 9 is achieved in the networked visual field measurement world coordinate system based on the measurement coordinate system 7.

[0081] Advantages of the present invention: The present invention is a method for measuring structural geometric parameters with full-field measurement, non-contact, high precision and universality. It can solve the problem of difficulty in universal and efficient measurement of geometric parameters of structures of different sizes under static load, pressure loading or motion conditions, and can achieve high-precision deformation, displacement, position, posture and other measurements of static, dynamic and moving structural mechanisms.

[0082] The present invention adopts a reconfigurable networking visual measurement design method, which effectively solves the problem that conventional measurement methods are difficult to measure in multiple modes, and achieves the problem of meeting different measurement objects, different measurement states, and different measurement requirements while using relatively few cameras, and has strong overall adaptability.

[0083] The invention is an automated measuring method which adopts designs such as automatic pan / tilt control, automatic guide rail control, automatic camera shutter triggering, one-button automated operation, etc. and has the advantages of high-precision and high-efficiency measurement.

[0084] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A reconfigurable networked visual field measurement system, characterized in that: It includes a test piece module, a target and orientation module, a fixed position measurement module, a slide rail measurement module and a measurement and control module; The measured object module is arranged at the center position of the measurement environment; the target and orientation modules are installed on and near the surface of the measured object module; the fixed position measurement module is installed on the wall around the measured object module to realize the measurement of the measured object module; the slide rail measurement module is arranged around the measured object module to realize the measurement of the measured object module; the fixed position measurement module and the slide rail measurement module are both electrically connected to the measurement and control module; the measurement and control module realizes the rotation control and image acquisition of the fixed position measurement module; the measurement and control module realizes the sliding control, rotation control and image acquisition of the slide rail measurement module; the measurement and control module realizes the real-time solution and visual display of the structural deformation, displacement, position, posture geometric parameter information of the measured object module.

2. The reconfigurable networked visual field measurement system according to claim 1, characterized in that: The device under test module comprises a device under test support platform (8) and a device under test (9); wherein the device under test support platform (8) is placed horizontally; the device under test (9) is arranged on the upper surface of the device under test support platform (8); the device under test support platform (8) is a fixed platform or a moving platform; the device under test support platform (8) fixes the device under test (9) by means of a clamp or a connecting tool.

3. The reconfigurable networked visual field measurement system according to claim 2, characterized in that: The target and orientation module comprises a first measured target (10-1), a second measured target (10-2), a third measured target (10-3), a fourth measured target (10-4), a fifth measured target (10-5), a sixth measured target (10-6), a first external orientation device (11), a second external orientation device (12), a third external orientation device (13), a fourth external orientation device (14), a fifth external orientation device (15) and a sixth external orientation device (16); The first target to be tested (10-1), the second target to be tested (10-2), the third target to be tested (10-3), the fourth target to be tested (10-4), the fifth target to be tested (10-5), and the sixth target to be tested (10-6) are all arranged at the positions of the to-be-measured marking points on the surface of the test piece (9) in accordance with the test requirements of the test piece (9); A first external orientation device (11), a second external orientation device (12), a third external orientation device (13), a fourth external orientation device (14), a fifth external orientation device (15), and a sixth external orientation device (16) are arranged near the measured object (9).

4. The reconfigurable networked visual field measurement system according to claim 3, characterized in that: By establishing a measurement coordinate system (7) and adopting a single-camera mobile photography method, a rigid coordinate system transfer relationship chain between the first external orientation device (11), the second external orientation device (12), the third external orientation device (13), the fourth external orientation device (14), the fifth external orientation device (15) and the sixth external orientation device (16) is obtained; the measurement coordinate system (7) adopts a Cartesian coordinate system.

5. The reconfigurable networked visual field measurement system according to claim 3, characterized in that: The fixed position measurement module comprises a first fixed position camera (1-1), a second fixed position camera (1-2), a third fixed position camera (1-3), a fourth fixed position camera (1-4), a fifth fixed position camera (1-5), a sixth fixed position camera (1-6), a seventh fixed position camera (1-7), an eighth fixed position camera (1-8), a ninth fixed position camera (1-9), a tenth fixed position camera (1-10), an eleventh fixed position camera (1-11), a twelfth fixed position camera (1-12), a thirteenth fixed position camera (1-13), a fourteenth fixed position camera (1-14), a fifteenth fixed position camera (1-15), a sixteenth fixed position camera (1-16), a first fixed position rotating pan / tilt head ( 2-1), a second fixed position rotating platform (2-2), a third fixed position rotating platform (2-3), a fourth fixed position rotating platform (2-4), a fifth fixed position rotating platform (2-5), a sixth fixed position rotating platform (2-6), a seventh fixed position rotating platform (2-7), an eighth fixed position rotating platform (2-8), a ninth fixed position rotating platform (2-9), a tenth fixed position rotating platform (2-10), an eleventh fixed position rotating platform (2-11), a twelfth fixed position rotating platform (2-12), a thirteenth fixed position rotating platform (2-13), a fourteenth fixed position rotating platform (2-14), a fifteenth fixed position rotating platform (2-15), and a sixteenth fixed position rotating platform (2-16); The 16 fixed position cameras correspond to the 16 fixed position rotating pan-tilt platforms one by one; each fixed position camera is mounted on a corresponding fixed position rotating pan-tilt platform; the fixed position rotating pan-tilt platform is mounted on a wall surface surrounding the measured object (9); during the measurement process, the spatial position coordinates of each fixed position rotating pan-tilt platform remain unchanged; each fixed position rotating pan-tilt platform drives the corresponding fixed position camera to realize horizontal rotation and pitch rotation by rotating.

6. The reconfigurable networked visual field measurement system according to claim 5, characterized in that: A first fixed position rotating pan-tilt platform (2-1), a second fixed position rotating pan-tilt platform (2-2), a third fixed position rotating pan-tilt platform (2-3), and a fourth fixed position rotating pan-tilt platform (2-4) form a group, which are arranged on the right side of the measured object (9) and drive the corresponding first fixed position camera (1-1), second fixed position camera (1-2), third fixed position camera (1-3), and fourth fixed position camera (1-4) to observe the measured object (9); The fifth fixed position rotating platform (2-5), the sixth fixed position rotating platform (2-6), the seventh fixed position rotating platform (2-7), and the eighth fixed position rotating platform (2-8) form a group, which are arranged at the rear side of the measured object (9) and drive the corresponding fifth fixed position camera (1-5), the sixth fixed position camera (1-6), the seventh fixed position camera (1-7), and the eighth fixed position camera (1-8) to observe the measured object (9); A ninth fixed position rotating platform (2-9), a tenth fixed position rotating platform (2-10), an eleventh fixed position rotating platform (2-11), and a twelfth fixed position rotating platform (2-12) form a group, which are arranged on the right side of the measured object (9) and drive the corresponding ninth fixed position camera (1-9), tenth fixed position camera (1-10), eleventh fixed position camera (1-11), and twelfth fixed position camera (1-12) to observe the measured object (9); The thirteenth fixed position rotating pan-tilt platform (2-13), the fourteenth fixed position rotating pan-tilt platform (2-14), the fifteenth fixed position rotating pan-tilt platform (2-15), and the sixteenth fixed position rotating pan-tilt platform (2-16) form a group, which are arranged in front of the measured object (9) and drive the corresponding thirteenth fixed position camera (1-13), fourteenth fixed position camera (1-14), fifteenth fixed position camera (1-15), and sixteenth fixed position camera (1-16) to observe the measured object (9).

7. The reconfigurable networked visual field measurement system according to claim 5, characterized in that: The horizontal rotation angle range of the fixed-position pan / tilt head is greater than or equal to 90°, and the pitch rotation angle range is greater than or equal to 60°.

8. The reconfigurable networked visual field measurement system according to claim 5, characterized in that: The slide rail measurement module comprises a first slide rail camera (3-1), a second slide rail camera (3-2), a third slide rail camera (3-3), a fourth slide rail camera (3-4), a fifth slide rail camera (3-5), a sixth slide rail camera (3-6), a seventh slide rail camera (3-7), an eighth slide rail camera (3-8), a first sliding platform (4-1), a second sliding platform (4-2), a third sliding platform (4-3), a fourth sliding platform (4-4), a fifth sliding platform (4-5), a sixth sliding platform (4-6), a seventh sliding platform (4-7), an eighth sliding platform (4-8), a first slide rail support tooling (5-1), a second slide rail support tooling (5-2), a third slide rail support tooling (5-3), a fourth slide rail support tooling (5-4), a first slide rail (6-1), a second slide rail (6-2), a third slide rail (6-3), and a fourth slide rail (6-4); Wherein, the first slide rail support fixture (5-1) is vertically arranged on the right side of the measured object (9); the second slide rail support fixture (5-2) is vertically arranged on the rear side of the measured object (9); the third slide rail support fixture (5-3) is vertically arranged on the left side of the measured object (9); the fourth slide rail support fixture (5-4) is vertically arranged on the front side of the measured object (9); the first slide rail (6-1) is vertically installed on the first slide rail support fixture (5-1); the second slide rail (6-2) is vertically installed on the second slide rail support fixture (5-2); the third slide rail (6-3) is vertically installed on the third slide rail support fixture (5-3); and the fourth slide rail (6-4) is vertically installed on the fourth slide rail support fixture (5-4); The first slide rail camera (3-1) is installed on the first slide rail (6-1) via a first sliding pan head (4-1); the second slide rail camera (3-2) is installed on the first slide rail (6-1) via a second sliding pan head (4-2), and is located above the first slide rail camera (3-1); The third slide rail camera (3-3) and the fourth slide rail camera (3-4) are respectively installed on the second slide rail (6-2) via the third sliding pan head (4-3) and the fourth sliding pan head (4-4), and the fourth slide rail camera (3-4) is located above the third slide rail camera (3-3); The fifth slide track camera (3-5) and the sixth slide track camera (3-6) are respectively installed on the third slide track (6-3) via the fifth sliding pan head (4-5) and the sixth sliding pan head (4-6), and the fifth slide track camera (3-5) is located above the sixth slide track camera (3-6); The seventh slide camera (3-7) and the eighth slide camera (3-8) are respectively installed on the fourth slide rail (6-4) via the seventh sliding pan-tilt head (4-7) and the eighth sliding pan-tilt head (4-8), and the seventh slide camera (3-7) is located above the eighth slide camera (3-8).

9. The reconfigurable networked visual field measurement system according to claim 5, characterized in that: The measurement and control module comprises a measurement and control circuit (17), a synchronous trigger device (18), and a host computer (19); The input end of the measurement and control circuit (17) is respectively connected to all fixed position cameras, fixed position rotating pan-tilt heads, slide rail cameras, sliding pan-tilt heads, and slide rails; the output end of the measurement and control circuit (17) is connected to the input end of the synchronous trigger device (18); and the output end of the synchronous trigger device (18) is connected to the host computer (19).

10. The reconfigurable networked visual field measurement system according to claim 9, characterized in that: The working process of the measurement and control module is as follows: The synchronous trigger device (18) realizes the synchronous camera light source switching and synchronous visual image acquisition of all fixed position cameras and sliding rail cameras through the host computer (19); the fixed position rotating pan-tilt head and the sliding pan-tilt head are respectively controlled to rotate horizontally and in elevation with a large field of view according to a predetermined program through the host computer (19); and all the sliding rails are respectively controlled to slide up and down synchronously according to a predetermined program through the host computer (19); the host computer (19) also realizes the real-time calculation of the rigid coordinate system transmission relationship chain between the measurement coordinate system (7) and the first external orientation device (11), the second external orientation device (12), the third external orientation device (13), the fourth external orientation device (14), the fifth external orientation device (15), and the sixth external orientation device (16); the relative positioning and absolute positioning dynamic calculation of the real-time station position and orientation parameters of the fixed position cameras and the sliding rail cameras; and the real-time solution and visual display of the structural deformation, displacement, position, and posture geometric parameter information of the entire reconfigurable networked visual field measurement system under various working conditions.

Images