Visual dynamic reference device and control field construction method based on satellite positioning

Abstract

The present invention relates to measurement technology, specifically to a visual dynamic reference device based on satellite positioning and a control field construction method. The visual dynamic reference device includes a reference axis, a satellite signal receiving component, an aiming component and a target component. The aiming component and the target component are both rotatably mounted on the reference axis, and the satellite signal receiving component is mounted on the upper end of the reference axis. The control field construction method of a visual measurement device is based on the above-mentioned visual dynamic reference device and the satellite measurement method of the bull's eye space coordinates and the visual measurement method of the bull's eye image plane coordinates. The control field construction method of the visual measurement device includes: arranging at least two visual dynamic reference devices in the camera field of view, calculating and respectively obtaining the bull's eye space coordinates and the bull's eye image plane coordinates of the two visual dynamic reference devices; performing control field analysis according to the bull's eye space coordinates and the bull's eye image plane coordinates of the visual dynamic reference device to obtain the control field of the visual measurement device and complete the orientation of the camera.

Description

Technical Field

[0001] The present invention mainly relates to measurement technology, in particular to a visual dynamic reference device based on satellite positioning and a control field construction method. Background Art

[0002] In closed or semi-closed spaces where satellite signals are difficult to transmit (such as tunnels, shafts, underground factories and other engineering application scenarios), it is difficult to establish an accurate, real-time and effective positioning control field through existing positioning technology.

[0003] When using photogrammetry for visual positioning, a certain number of targets with known spatial coordinates need to be placed in the field of view to establish a control field for visual positioning, and the positions of these targets often need to be measured with the help of additional measuring instruments. When the position of the target changes, the spatial position of the target needs to be remeasured. It is worth noting that due to the disturbance of external environmental factors, the position of the target may change slightly over time, which will cause instability in the visual measurement results and affect the measurement accuracy. Summary of the invention

[0004] The present invention provides a visual dynamic reference device based on satellite positioning and a control field construction method, which are used to solve the technical problem of improving the accuracy and efficiency of visual positioning.

[0005] To achieve the above-mentioned purpose, the present invention provides a visual dynamic reference device based on satellite positioning, including a reference axis, a satellite signal receiving component, an aiming component and a target component, wherein the aiming component and the target component are both rotatably mounted on the reference axis, and the satellite signal receiving component is mounted on the upper end of the reference axis.

[0006] The reference shaft includes a shaft sleeve, a shaft rod and an adjustment mechanism for adjusting the height of the shaft rod. One end of the shaft rod is inserted into the shaft sleeve through a sliding key to prevent rotation, and the other end of the shaft rod extends out of the shaft sleeve and is connected to the adjustment mechanism. The satellite signal receiving component is installed at the top of the shaft rod.

[0007] The adjustment mechanism includes an adjustment wheel, a track ring and a sealing ring. The part of the shaft rod connected to the adjustment mechanism is provided with an external thread, and the adjustment wheel is provided with an internal thread and is threadedly connected to the shaft rod; the track ring is padded under the adjustment wheel and is fixedly connected to the adjustment wheel; the sealing ring is connected to the top of the sleeve and forms an annular track with the sleeve; the track ring is provided with an extension portion slidably arranged in the annular track.

[0008] The shaft comprises a shaft body, a connecting nut and a connecting screw, wherein the connecting nut is fixedly connected to the top of the shaft body, one end of the connecting screw is threadedly connected to the connecting nut, and the other end is connected to the satellite signal receiving component.

[0009] A shaft sleeve bottom cover for encapsulating the shaft rod is provided at the bottom of the shaft sleeve.

[0010] A leveling base is provided at the bottom of the sleeve, and the leveling base includes a reference shaft connecting plate, a base plate and a three-point leveling mechanism for adjusting the reference shaft connecting plate to be horizontal. A positioning boss that cooperates with the bottom of the sleeve is provided on the reference shaft connecting plate, and a threaded hole that is fixedly connected to the sleeve through a fastener is provided on the positioning boss. The three-point leveling mechanism is installed between the reference shaft connecting plate and the base plate.

[0011] The satellite signal receiving component comprises a satellite antenna and a base station antenna. The base station antenna is mounted on the satellite antenna. A threaded hole for connecting and fixing with a reference shaft is provided at the bottom of the satellite antenna.

[0012] The satellite antenna is provided with an antenna plane center mark and an antenna plane elevation mark. The antenna plane center mark is engraved on the center of the top surface of the outer shell of the satellite antenna and coincides with the plane position of the built-in antenna center of the satellite antenna. The antenna plane elevation mark is engraved on the side of the outer shell of the satellite antenna and coincides with the height of the built-in antenna center of the satellite antenna.

[0013] The aiming assembly comprises an aiming hoop, an aiming rocker arm and a laser generator. The aiming hoop is rotatably connected to the reference shaft. One end of the aiming rocker arm is connected to the aiming hoop, and the other end is connected to the laser generator.

[0014] The aiming assembly also includes a rocker arm locking bolt, which is mounted on the aiming hoop and one end of which can pass through the aiming hoop and abut against the reference axis.

[0015] The target assembly includes a target rocker arm, a target clamp and two ball targets. The target clamp is rotatably connected to a reference shaft. A pair of target rockers are provided and are respectively connected to two sides of the target clamp. A ball target is installed on each target rocker arm, and the ball targets are connected to the target rocker arm through an adjusting screw.

[0016] One end of the target rocker arm connected to the ball target is set to be S-shaped, and a low-reflectivity matte coating is sprayed on the surface.

[0017] The target assembly also includes a target locking bolt, which is mounted on the target clamping hoop, and one end of which can pass through the target clamping hoop and abut against the reference shaft.

[0018] The center line connecting the two ball targets is perpendicular to and coplanar with the rotation axis of the target hoop.

[0019] The ball target comprises a target cover, a wick and a bottom cover, wherein the target cover is provided with a bottom cover connecting port, the bottom cover is mounted on the bottom cover connecting port, the wick is provided with a wick connecting rod, the wick is placed in the target cover and fixedly connected to the bottom cover via the wick connecting rod.

[0020] The wick comprises a lamp bead and a wick shell formed by bolting two hemispherical covers. The wick connecting rod is fixedly connected to the wick shell and is provided with a threading hole for threading a wire. The lamp bead is mounted on the hemispherical cover and is electrically connected to the wire.

[0021] The hemispherical cover is evenly distributed with a plurality of lamp bead mounting holes, and the lamp bead is provided with a plurality of lamp bead, and each lamp bead mounting hole is equipped with a lamp bead.

[0022] The outer surface of the hemispherical cover is a mirror reflection surface.

[0023] A method for determining the space coordinates of a bull's eye by satellite, based on the above-mentioned visual dynamic reference device based on satellite positioning, comprises:

[0024] S1: Arrange the device so that the reference axis remains vertical.

[0025] S2: Adjust the device to adjust the satellite signal receiving component up and down until the laser emitted by the aiming component and the antenna plane elevation mark of the satellite signal receiving component are located in the same plane.

[0026] S3: Start the satellite signal receiving component to obtain the position space coordinates of the satellite signal receiving component.

[0027] S4: Calculate the bull's eye spatial coordinates, and obtain the bull's eye spatial coordinates of the target assembly according to the position spatial coordinates of the satellite signal receiving assembly.

[0028] The S4 includes:

[0029] The position coordinates of the satellite signal receiving component are obtained as follows: x S ，y S ，z S ), then the bull's-eye spatial coordinates of the target assembly are ( x T ，y T ，z T ):

[0030]

[0031] in, h Indicates the relative height between the antenna plane elevation mark and the rotation center of the target assembly.

[0032] A method for visually determining the coordinates of a bull's eye image plane, based on the above-mentioned visual dynamic reference device based on satellite positioning, comprises:

[0033] T1: Acquire an image of a target assembly, rotate the target assembly, and take at least two images of the target assembly when the target assembly is located at different angles.

[0034] T2: Connect the centers of the ball targets in the same image and obtain the image plane coordinates of the centers.

[0035] T3: Superimpose all images according to the image plane coordinate system to obtain the superimposed image of all circle centers and connecting lines in the same image plane coordinate system.

[0036] T4: obtaining the coordinates of the intersection points of the connecting lines according to the superimposed image, and obtaining the coordinates of the bull's eye image plane according to the coordinates of the intersection points of the connecting lines.

[0037] The T2 includes:

[0038] The image of the target component is identified by a boundary algorithm to obtain a circular boundary in the image.

[0039] The center of the ball target in the image is restored according to the circular boundary.

[0040] Connect the centers of the ball targets in the same image.

[0041] The T4 includes:

[0042] When all the connecting lines intersect at the same intersection point, the intersection point is the image position of the rotation center of the target assembly, and the coordinates of the intersection point are the coordinates of the bull's eye image plane.

[0043] The T4 includes:

[0044] Case 1: When there are two connecting lines, there is an intersection point between the two connecting lines. The image plane coordinates of the intersection point are obtained according to the image plane coordinates of the four circle centers on the two connecting lines. The image plane coordinates of the intersection point are the image plane coordinates of the bull's eye.

[0045] Case 2: When there are more than three connecting lines and there are more than three intersection points between the connecting lines, firstly, the image plane coordinates of all the intersection points are obtained according to the image plane coordinates of all the circle centers on the connecting lines, and then the image plane coordinates of the bull's eye are obtained according to the image plane coordinates of all the intersection points.

[0046] Constructing the error function E， To calculate the coordinates of the bull's eye image plane coordinates M ( x M , y M ):

[0047]

[0048] Where n is the number of connections; x i and y i Represents the image plane coordinates of the center of a ball target in the i-th image.

[0049] When M( x M , y M ) makes the error function E When the minimum value is obtained, point M is the image plane coordinate of the center of the target determined by multiple ball target positions in the image plane.

[0050] The first situation includes:

[0051] Assume that the image plane coordinates of the two centers on the same line are ( x i , y i )and( x’ i , y’ i ).

[0052] The image plane coordinates of the four circle centers on the two connecting lines are ( x 1, y 1) and ( x’ 1, y’ 1) and ( x 2, y 2) and ( x’ 2, y’ 2), then the coordinates of the bull's eye image plane coordinate M are ( x M , y M ):

[0053] .

[0054] The second scenario includes:

[0055] There are three lines, three lines exist P 1. P 2. P 3Three intersection points, P 1. P 2. P 3 Press x Coordinates are sorted in ascending order.

[0056] The image plane coordinates of the six circle centers on the three connecting lines are ( x 1, y 1) and ( x’ 1, y’ 1) ( x 2, y 2) and ( x’ 2, y ’ 2) and ( x 3, y 3) and ( x’ 3, y’ 3).

[0057] First calculate λ 1. λ 2. λ 3Three parameters:

[0058]

[0059]

[0060]

[0061]

[0062] according to λ 1. λ 2. λ 3 Analyze and obtain the coordinates of point M.

[0063] The basis λ 1. λ 2. λ 3 The coordinates of point M obtained by analysis include:

[0064] when λ 1. λ 2. λ 3 are all greater than -1 / 2, the coordinates of point M ( x M , y M )middle:

[0065]

[0066] in,

[0067]

[0068] .

[0069] The basis λ 1. λ 2. λ 3 The coordinates of point M obtained by analysis also include:

[0070] when λ When 1 is less than -1 / 2, the coordinates of point M ( x M , y M )middle: x M = x 1, y M = y 1.

[0071] The basis λ 1. λ 2. λ 3 The coordinates of point M obtained by analysis also include:

[0072] when λ When 2 is less than -1 / 2, the coordinates of point M ( x M , y M )middle: x M = x 2; y M = y 2.

[0073] The basis λ 1. λ 2. λ 3 The coordinates of point M obtained by analysis also include:

[0074] when λ 3 is less than -1 / 2, the coordinates of point M ( x M , y M )middle: x M = x 3; y M = y 3.

[0075] The second scenario also includes:

[0076] There are four lines, and there are at most six intersection points of the four lines; use P ij Indicates l i Straight line and l j The point where the lines intersect.

[0077] First, the image plane coordinates of the center of the circle on the four connecting lines are used to represent l 1. l 2. l 3The intersection of three lines P ij ( X ij , Y ij ),in:

[0078]

[0079]

[0080] The first l 1 ～l Equations of 3 straight lines:

[0081] .

[0082] When the fourth line is introduced, the coordinates of the intersection of the fourth line and other lines are:

[0083]

[0084] The additional intersection points due to the introduction of the fourth line P 14 、P 24 、P 34 Calculate the eigenvalue Δ 14 , Δ 24 and Δ 34 :

[0085]

[0086] Three eigenvalues ​​Δ 14 , Δ 24 and Δ 34 There must be two greater than 0 and one less than 0. The intersection point corresponding to the eigenvalue less than 0 is taken as the coordinate of the center image plane coordinate M ( x M , y M ).

[0087] The second scenario also includes:

[0088] exist n Lines, n ≥5, n is a positive integer,n There are at most n ( n -1) / 2 intersection points.

[0089] The coordinates of the bull's eye image plane coordinates M are calculated by area search.

[0090] And μ ≤ δ As the cutoff condition for the area search, μ is the step length, δ is the imaging sensor pixel size.

[0091] The coordinates of the bull's eye image plane coordinates M calculated by area search include:

[0092] E1: Calculate the center line l 1~ l n The equation of the straight line, the number of intersection points of all connecting lines m = n ( n -1) / 2, calculate the coordinates of all intersection points according to the straight line equation ( x i , y i ), i =1,2,…… m .

[0093] Pick L 1: x = min ( x i ), L 2: x = max ( x i ), L 3: y = min ( y i ), L 4: y = max ( y i ) The area enclosed by the four straight lines is taken as the initial area, and the initial area envelops all the intersection points of the connecting lines.

[0094] E2: The geometric center C formed by the intersection of all lines is used as the initial center of the M point search. The coordinates of C ( X C ，Y C )middle:

[0095] .

[0096] E3: Take half of the minimum length and width of the initial search area as the initial search step μ :

[0097] .

[0098] E4: C Centered on μ is the step length, C Search points are arranged in eight directions orthogonal to the point, and eight search points are obtained:

[0099] .

[0100] E5: Eliminate the eight search points that are beyond the initial search area to obtain qualified search points, and calculate each qualified search point separately. i and m The distances between the intersection points of the lines are summed up to get the distance of each search point. d , and take d The minimum value of D :

[0101]

[0102] like μ ≤ δ , indicating that the accuracy is satisfied, then the output D and D Corresponding points P The coordinates of the point P The coordinates of are the coordinates of the bull's eye image plane coordinates M.

[0103] by μ ≤ δ When used as a cutoff condition to determine whether the accuracy is met, if the accuracy is not met, it includes:

[0104] use P’ Indicates that at this time D The corresponding point.

[0105] like P’ The coordinates of C If the coordinates are the same, the initial search step length described in E3 is μ The value of is updated to μ / 2 and enter E4.

[0106] by μ ≤ δ When used as a cutoff condition to determine whether the accuracy is met, if the accuracy is not met, it also includes:

[0107] likeP’ The coordinates of C If the coordinates of are not the same, then replace C The coordinates of are updated to P’ Coordinates, step length μ No change, enter E5 after setting up the search point.

[0108] A control field construction method for a visual measurement device is based on the above-mentioned visual dynamic reference device and the above-mentioned satellite determination method of the bull's eye space coordinates and the visual determination method of the bull's eye image plane coordinates. The control field construction method for the visual measurement device includes:

[0109] At least two of the visual dynamic reference devices are arranged in the camera field of view, and the bull's eye space coordinates and the bull's eye image plane coordinates of the two visual dynamic reference devices are calculated and obtained respectively; a control field is analyzed according to the bull's eye space coordinates and the bull's eye image plane coordinates of the visual dynamic reference device to obtain the control field of the visual measurement device and complete the orientation of the camera.

[0110] A calibration ball target of a visual dynamic reference device based on satellite positioning. The calibration ball target further includes a calibration ball target converter and a calibration target on the basis of the device. The satellite signal receiving component is removed and replaced with the calibration ball target converter. The two ends of the calibration ball target converter are a converter ball target bolt and a converter spindle bolt hole respectively. The converter spindle bolt hole is connected to the upper end of the reference shaft, and the calibration target is installed on the converter ball target bolt.

[0111] The calibration target has the same structure as the ball target.

[0112] An instrument calibration method, based on the above-mentioned calibration ball target, comprises:

[0113] F1: at least two cameras with different shooting angles are arranged at a position higher than the calibration ball target.

[0114] F2: photographing the calibration ball target more than twice by the at least two cameras to obtain a calibration image, wherein the angle of the ball target is adjusted to a different position by rotating each time photographing, and the height of the calibration target is adjusted to a different position by lifting and lowering.

[0115] F3: Analyze the calibration image and calibrate and adjust the position of the ball target on the target assembly.

[0116] The F2 includes: when shooting for the first time, adjusting the reference axis to the lowest position, so that the calibration target is positioned at the lowest position, and positioning the ball target on the target assembly at a first angle position; when shooting for the second time, adjusting the reference axis to the highest position, so that the calibration target is positioned at the highest position, rotating the target assembly, and changing the ball target on the target assembly to a second angle position.

[0117] The F3 includes:

[0118] F31: Connect the centers of the ball targets and the calibration targets in the same image, and obtain the image plane coordinates of the centers.

[0119] F32: Superimpose all images from the same camera according to the image plane coordinate system to obtain a superimposed image with all circle centers and connecting lines in the same image plane coordinate system.

[0120] F33: Analyze the intersection relationship between the ball target center connection line and the extension line of the calibration target center connection line based on the superimposed images of all cameras.

[0121] F34: Analyze whether the installation of the ball target meets the standards based on the intersection relationship.

[0122] The F31 includes:

[0123] The images of the ball target and the calibration target are identified by a boundary algorithm to obtain a circular boundary in the image, and the centers of the ball target and the calibration target in the image are restored according to the circular boundary.

[0124] Connect the centers of the ball target and the calibration target in the same image.

[0125] The F34 includes:

[0126] If there are multiple intersections between the extension lines of the connecting line of the ball target center and the connecting line of the calibration target center, calculate the point M closest to the multiple intersections and construct the error function E The error value of the axis deviation at this moment is calculated, and whether the installation of the ball target meets the standard is judged according to the error values ​​in all superimposed images.

[0127] Judging whether the installation of the ball target meets the standard according to the error values ​​in all superimposed images includes:

[0128] The error values ​​in all the superimposed images are compared with the preset difference limit value. When all the error values ​​are smaller than the difference limit value, it is determined that the installation of the ball target meets the standard.

[0129] Judging whether the installation of the ball target meets the standard according to the error values ​​in all superimposed images includes:

[0130] When the error value is not less than the difference limit value, it is determined that the installation of the ball target does not meet the standard.

[0131] When the installation of the ball target does not meet the standard, the plane position of the ball target is adjusted by controlling the depth of the adjusting screw rod screwed into the target rocker arm.

[0132] The step of adjusting the plane position of the ball target by controlling the depth of the adjusting screw rod screwed into the target rocker arm comprises:

[0133] A1: Lock the target rocker arm and slightly adjust the plane position of one of the ball targets to make the ball target move closer to or away from the target rocker arm.

[0134] A2: Recalculate the error values ​​of the superimposed images of all cameras and determine whether the ball target installation meets the standards.

[0135] A3: If the axis deviation decreases, it means that the adjustment direction of the ball target is correct and continue to adjust; if the deviation increases, it means that the adjustment direction is opposite and it should be adjusted in the opposite direction.

[0136] A4: Enter A2 until it is determined that the ball target installation meets the standards.

[0137] The present invention has the following beneficial effects:

[0138] The satellite positioning-based visual dynamic reference device of the present invention comprises a satellite signal receiving component for receiving satellite signals to obtain a spatial coordinate reference, a sighting component for guiding the adjustment of the height of the satellite signal receiving component to aim at a visual device, a target component for providing a position measurement reference for the visual device, and a reference axis for connecting and installing the satellite signal receiving component, the sighting component and the target component. The relative height between the satellite signal receiving component and the sighting component can be accurately determined by rotating the sighting component around the reference axis, so that the spatial coordinates obtained by the satellite signal receiving component through the satellite signal can be accurately transmitted to the target component, so that the position information calculated by the visual device based on the target component is accurate and reliable, and the rotation of the target component around the reference axis can provide the visual device with a plurality of target images at different angles. The more target images that can be provided, the more accurate the position data calculated by the visual device can be. At the same time, when the device is offset due to the disturbance of the external environment, it can refresh the new position after the offset in real time according to the update frequency of the satellite signal, thereby providing a dynamic reference for the visual device. The visual positioning control field established based on the device can be dynamically calibrated in real time, thereby achieving the purpose of improving the accuracy and efficiency of visual positioning.

[0139] The satellite measurement method of the bull's eye space coordinates, the visual measurement method of the bull's eye image plane coordinates, and the control field construction method of the present invention are based on the above-mentioned visual dynamic reference device design, have corresponding technical features and technical effects, and will not be repeated here.

[0140] The calibration ball target, instrument calibration and calibration method of the present invention are based on the above-mentioned visual dynamic reference device design and have corresponding technical characteristics and technical effects. At the same time, before using the visual dynamic reference device, it is calibrated by the calibration ball target, instrument calibration and calibration method, and calibrated to the optimal working state, which can minimize the error of the visual dynamic reference device itself, thereby improving the positioning accuracy of the visual positioning control field.

[0141] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0142] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0143] Figure 1 It is a schematic diagram of the three-dimensional structure of an embodiment of a visual dynamic reference device based on satellite positioning of the present invention.

[0144] Figure 2 It is a schematic diagram of the three-dimensional split structure of an embodiment of the visual dynamic reference device based on satellite positioning of the present invention.

[0145] Figure 3 It is a schematic diagram of the three-dimensional splitting structure of the reference axis in an embodiment of the visual dynamic reference device based on satellite positioning of the present invention.

[0146] Figure 4 It is a schematic diagram of the three-dimensional cross-sectional structure of the reference axis in an embodiment of the visual dynamic reference device based on satellite positioning of the present invention.

[0147] Figure 5 It is a schematic diagram of the three-dimensional split structure of the leveling base in an embodiment of the visual dynamic reference device based on satellite positioning of the present invention.

[0148] Figure 6 It is a schematic diagram of the first three-dimensional split structure of the satellite signal receiving component in the embodiment of the visual dynamic reference device based on satellite positioning of the present invention.

[0149] Figure 7 It is a schematic diagram of the second three-dimensional split structure of the satellite signal receiving component in the embodiment of the visual dynamic reference device based on satellite positioning of the present invention.

[0150] Figure 8 It is a schematic diagram of the three-dimensional split structure of the aiming component in the embodiment of the visual dynamic reference device based on satellite positioning of the present invention.

[0151] Fig. 9It is a schematic diagram of the three-dimensional split structure of the target component in the embodiment of the visual dynamic reference device based on satellite positioning of the present invention.

[0152] Fig.10 It is a schematic diagram of a target assembly reference in an embodiment of a visual dynamic reference device based on satellite positioning of the present invention.

[0153] Fig.11 It is a schematic diagram of the three-dimensional split structure of the ball target in the embodiment of the visual dynamic reference device based on satellite positioning of the present invention.

[0154] Fig.12 It is a schematic diagram of the three-dimensional split structure of the wick in an embodiment of the visual dynamic reference device based on satellite positioning of the present invention.

[0155] Fig.13 It is a schematic diagram of the spatial coordinates of an embodiment of the satellite determination method for the bull's-eye spatial coordinates of the present invention.

[0156] Fig.14 It is a schematic diagram of the target assembly photographed in the embodiment of the method for visually measuring the plane coordinates of the bull's eye image of the present invention.

[0157] Fig.15 yes Fig.14 Schematic diagram of the center of the target and the connecting line.

[0158] Fig.16 yes Fig.15 Superimposed schematic diagram of the center of the target and the connecting line.

[0159] Fig.17 yes Fig.16 A magnified schematic diagram of area A in the middle.

[0160] Fig.18 It is a schematic diagram of the calculation of the position of point M in the embodiment of the method for visually measuring the plane coordinates of the bull's eye image of the present invention.

[0161] Fig.19 It is a schematic diagram of calculating the bull's eye image plane coordinates M by area search in the visual determination method of the bull's eye image plane coordinates of the present invention.

[0162] Fig. 20 It is a schematic diagram of arranging search points in the visual determination method of the bull's eye image plane coordinates of the present invention.

[0163] Fig.21 It is a schematic diagram of control field construction in an embodiment of a control field construction method for a visual measurement device of the present invention.

[0164] Fig. 22 It is a schematic diagram of phase coordinates in an embodiment of a control field construction method for a visual measurement device of the present invention.

[0165] Fig.23It is a schematic diagram of the three-dimensional structure of the calibration ball target embodiment of the present invention.

[0166] Fig.24 It is a schematic diagram of adjusting the position of the calibration ball target in the embodiment of the instrument calibration and calibration method of the present invention.

[0167] Fig.25 It is a schematic diagram of the calibration ball target image acquired twice at different camera positions in the embodiment of the instrument calibration and calibration method of the present invention.

[0168] Fig.26 It is a schematic diagram of the superposition of the ball target center and the connecting line in the embodiment of the instrument calibration method of the present invention.

[0169] The numbers in the figure are:

[0170] 1. Reference axis; 11. Bushing; 111. Bushing bottom cover; 12. Shaft; 120. Shaft body; 121. Connecting screw; 122. Connecting screw; 13. Adjustment mechanism; 131. Adjustment dial; 132. Track ring; 133. Sealing ring; 14. Leveling base; 141. Reference axis connecting plate; 1411. Positioning boss; 142. Base plate; 143. Three-point leveling mechanism; 2. Satellite signal receiving assembly; 21. Satellite antenna; 22. Base station antenna; 211. Antenna plane center mark; 212. Antenna plane elevation mark; 3. Aiming assembly Parts; 31. Aiming clamp; 32. Aiming rocker arm; 33. Laser generator; 34. Rocker arm locking bolt; 4. Target assembly; 41. Target rocker arm; 42. Target clamp; 43. Ball target; 431. Target cover; 4311. Bottom cover connection port; 432. Wick; 4321. Wick connecting rod; 4322. Lamp bead; 4323. Hemispherical cover; 43231. Lamp bead mounting hole; 433. Bottom cover; 44. Target locking bolt; 45. Adjusting screw; 5. Calibration ball target converter; 51. Converter ball target bolt; 52. Converter spindle bolt hole; 53. Calibration target. DETAILED DESCRIPTION

[0171] The embodiments of the present invention are described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways as defined and covered by the claims.

[0172] Embodiment of the visual dynamic reference device based on satellite positioning:

[0173] The embodiment of the visual dynamic reference device based on satellite positioning of the present invention is as follows: Figures 1 to 12As shown, it includes a reference shaft 1, a satellite signal receiving component 2, an aiming component 3 and a target component 4. The aiming component 3 and the target component 4 are both rotatably mounted on the reference shaft 1, and the satellite signal receiving component 2 is mounted on the upper end of the reference shaft 1. The satellite signal receiving component 2 is used to receive satellite signals to obtain a spatial coordinate reference, the aiming component 3 is used to guide the adjustment of the height of the satellite signal receiving component 2 to aim the visual device, the target component 4 is used to provide a position measurement reference for the visual device, and the reference axis 1 is used to connect and install the satellite signal receiving component 2, the aiming component 3 and the target component 4. The relative height between the satellite signal receiving component 2 and the aiming component 3 can be accurately determined by the rotation of the aiming component 3 around the reference axis 1, so that the spatial coordinates obtained by the satellite signal receiving component 2 through the satellite signal can be accurately transmitted to the target component 4, so that the position information calculated by the visual device based on the target component 4 is accurate and reliable, and the rotation of the target component 4 around the reference axis 1 can provide the visual device with a plurality of target images at different angles. The more target images can be provided, the more accurate the position data calculated by the visual device can be. At the same time, when the device is offset due to the disturbance of the external environment, it can refresh the new position after the offset in real time according to the update frequency of the satellite signal, providing a dynamic reference for the visual device. The visual positioning control field established based on the device can be dynamically calibrated in real time to achieve the purpose of improving the accuracy and efficiency of visual positioning.

[0174] In this embodiment, the reference shaft 1 is mainly used to connect the satellite signal receiving component 2, the aiming component 3, and the target component 4, and the whole is made of stainless steel. Figure 3 and Figure 4As shown, the reference shaft 1 includes a sleeve 11, a shaft 12 and an adjustment mechanism 13 for adjusting the height of the shaft 12. The lower end of the shaft 12 is inserted into the sleeve 11 through a sliding key to prevent rotation. The upper end of the shaft 12 extends out of the sleeve 11 and is connected to the adjustment mechanism 13. The satellite signal receiving component 2 is installed at the top of the shaft 12. In this embodiment, the adjustment mechanism 13 includes an adjustment wheel 131, a track ring 132 and a sealing ring 133. The portion where the shaft 12 is connected to the adjustment mechanism 13 is provided with an external thread. The adjustment wheel 131 is provided with an internal thread and is threadedly connected to the shaft 12. The outer side surface of the adjustment wheel 131 is provided with an anti-slip groove. The track ring 132 is padded below the adjustment wheel 131 and is fixedly connected to the adjustment wheel 131. The sealing ring 133 is fixed to the top of the sleeve 11 by fastening screws and forms an annular track with the sleeve 11. The bottom of the track ring 132 is provided with an extension portion slidably arranged in the annular track. The outer diameter of the top of the track ring 132 is consistent with the inner diameter of the sealing ring 133. After assembly, the top surface of the track ring 132 is higher than the top surface of the sealing ring 133 to prevent water on the top surface of the sealing ring 133 from entering the threaded surface between the adjustment wheel 131 and the shaft 12 along the gap between the overlapping surfaces of the two. When the adjusting wheel 131 is driven to rotate by external force, the adjusting wheel 131 drives the track ring 132 to rotate synchronously. Under the constraint of the annular track, the track ring 132 can only rotate relative to the sleeve 11 and cannot form axial displacement, which also makes it impossible for the adjusting wheel 131 to form axial displacement relative to the sleeve 11. At the same time, the lower end of the shaft rod 12 is inserted into the sleeve 11 by a sliding key to prevent rotation. Therefore, under the action of the thread between the adjusting wheel 131 and the shaft rod 12, the shaft rod 12 is driven to form axial displacement relative to the sleeve 11, thereby realizing the height adjustment of the shaft rod 12 by the adjusting wheel 131, and thereby further realizing the height adjustment of the satellite signal receiving component 2 at the top of the shaft rod 12.

[0175] In this embodiment, the shaft 12 includes a shaft body 120, a connecting screw sleeve 121 and a connecting screw 122. A notch is provided at the top of the shaft body 120. The connecting screw sleeve 121 is fixedly embedded in the notch at the top of the shaft body 120 by interference fit. One end of the connecting screw 122 is threadedly connected to the connecting screw sleeve 121, and the other end is threadedly connected to the satellite signal receiving component 2. The shaft body 120 forms a corresponding connection relationship with the above-mentioned sleeve 11 and the adjustment mechanism 13. A sleeve bottom cover 111 for encapsulating the shaft 12 is provided at the bottom of the sleeve 11. The sleeve bottom cover 111 is connected and fixed to the bottom of the sleeve 11 by fastening screws. When installing the shaft body 120, the shaft body 120 is inserted from the bottom of the sleeve 11, and then the shaft 12 is encapsulated by the sleeve bottom cover 111.

[0176] like Figure 4 and Figure 5As shown, in this embodiment, a leveling base 14 is provided at the bottom of the sleeve 11, and the leveling base 14 includes a reference axis connecting plate 141, a base plate 142 and a three-point leveling mechanism 143 for adjusting the reference axis connecting plate 141 to a horizontal state. The reference axis connecting plate 141 is provided with a positioning boss 1411 that cooperates with the bottom of the sleeve 11, and the positioning boss 1411 is provided with a threaded hole for being fixedly connected to the sleeve 11 through a fastener. The positioning boss 1411 is used for positioning and limiting when connected to the sleeve 11. The three-point leveling mechanism 143 is installed between the reference axis connecting plate 141 and the base plate 142, and the base plate 142 is provided with a bolt hole for connecting with a ground fixing bolt. In this embodiment, a horizontal bubble is also provided at the bottom of the sleeve 11. When the reference axis connecting plate 141 is adjusted to be horizontal through the three-point leveling mechanism 143, the reference axis connecting plate 141 is linked with the sleeve 11, and the horizontal bubble at the bottom of the sleeve 11 will indicate its horizontal state. When the horizontal bubble shows horizontal, the entire reference axis 1 is in a vertical state.

[0177] like Figure 6 , Figure 7 As shown, in this embodiment, the satellite signal receiving component 2 includes a satellite antenna 21 and a base station antenna 22. The base station antenna 22 is installed on the satellite antenna 21. The bottom of the satellite antenna 21 is provided with a threaded hole for connecting and fixing with the connecting screw 122 on the reference shaft 1. The satellite antenna 21 is provided with an antenna plane center mark 211 and an antenna plane elevation mark 212. The antenna plane center mark 211 is engraved on the center of the top surface of the shell of the satellite antenna 21 and coincides with the center of the built-in antenna of the satellite antenna 21 in the horizontal plane position. The antenna plane elevation mark 212 is engraved on the side of the shell of the satellite antenna 21 and coincides with the height of the center of the built-in antenna of the satellite antenna 21. The satellite signal receiving component 2 receives the satellite positioning signal through the satellite antenna 21, and communicates with the base station through the base station antenna 22, and transmits the satellite positioning signal data to the computing terminal for analysis by the computing terminal.

[0178] like Figure 8As shown, in this embodiment, the aiming assembly 3 includes an aiming hoop 31, an aiming rocker arm 32 and a laser generator 33. The aiming hoop 31 is formed by one-time cutting of a lightweight aluminum alloy and is a pair of tile-shaped structures. After being connected by fasteners, it can be rotatably embraced on the sleeve 11 of the reference axis 1 and can rotate horizontally around the reference axis 1; the aiming rocker arm 32 is formed by one-time cutting of a lightweight aluminum alloy, one end of which is fixedly connected to the aiming hoop 31, and the other end is connected to the laser generator 33. A rib plate is provided at the connection between the aiming rocker arm 32 and the aiming hoop 31 to improve its bending stiffness and ensure that the laser generator 33 is installed accurately. The laser generator 33 determines whether the height position of the satellite signal receiving assembly 2 is accurate by emitting light to illuminate the antenna plane elevation mark 212. The aiming assembly 3 also includes a rocker arm locking bolt 34, which is installed on the aiming clamp 31. One end of the rocker arm locking bolt 34 can pass through the aiming clamp 31 and abut against the shaft sleeve 11 of the reference shaft 1. When the laser generator 33 aims at the satellite signal receiving assembly 2, it needs to be fixed. By tightening the rocker arm locking bolt 34 and abutting against the shaft sleeve 11, the aiming assembly 3 is changed from a free rotating state to a locked state. The rocker arm locking bolt 34 adopts a butterfly bolt for easy operation. The aiming assembly 3 has two main functions. One is to indicate the adjustment height of the satellite signal receiving assembly 2. Since the relative height between the optical axis of the laser generator 33 and the rotation center of the aiming clamp 31 is h It is fixed, but the sizes of satellite receiving antennas produced by different manufacturers are different. In order to ensure that all types of antennas can solve the coordinates of the rotation center of the aiming hoop 31 with the same formula, it is necessary to maintain the consistency of the relative spatial position of the center of the satellite signal receiving component 2 and the rotation center of the aiming hoop 31. The aiming component 3 aligns the aiming hoop 31, the reference axis 1 and the satellite signal receiving component 2 to ensure the consistency of the plane position. The laser generator 33 and the antenna plane elevation mark 212 on the satellite signal receiving component 2 are used as indicators to accurately adjust the height position of the satellite signal receiving component 2 with the adjustment mechanism 13, thereby ensuring the accuracy of the elevation position between the aiming hoop 31 and the satellite signal receiving component 2; another function of the aiming component 3 is to indicate the aiming direction of the camera. When the camera is laid out, the framing direction should be adjusted in advance so that its field of view should include all targets. When the camera is framed and debugged, the aiming component 3 adjusts the direction of the aiming rocker arm 32 to indicate the camera adjustment direction through the light spot transmitted to the camera.

[0179] like Fig. 9As shown, in this embodiment, the target assembly 4 is mainly used to provide a light source and a reference datum for camera visual measurement, and includes a target rocker arm 41, a target clamp 42 and a ball target 43. The target clamp 42 is formed by one-time cutting of indium steel, and is a pair of tile-shaped structures, which are connected by fasteners and rotatably embraced and connected to the sleeve 11 of the reference shaft 1; a pair of target rocker arms 41 are provided, and are respectively connected to both sides of the target clamp 42, and a ball target 43 is installed on each target rocker arm 41. The target rocker arm 41 is formed by one-time cutting of indium steel, and a groove is milled on the central axis part in the height direction of the cross section to further reduce the weight. Since indium steel is a low expansion alloy with low thermal expansion, the consistency of the center distance of the ball target 43 at different ambient temperatures can be ensured; the ball target 43 is connected to the target rocker arm 41 by an adjusting screw 45, and the plane position of the ball target 43 is adjusted by controlling the screw-in amount of the adjusting screw 45 to perform axis calibration; as shown Fig.10 As shown, the center line of the two ball targets 43 is perpendicular to and coplanar with the rotation axis of the target clamp 42. The ball targets 43 are the key components of the device for converting the satellite positioning reference and the visual measurement reference. The centers O1 and O2 of a pair of ball targets 43 and the center O of the rocker arm shaft should be kept strictly colinear and strictly perpendicular to the rotation axis of the target clamp 42. The midpoint of the center line of the ball targets 43 is analyzed by visual measurement, and the center of the rotation axis of the target rocker arm 41 is measured by satellite positioning. Only when the two coincide in space can the satellite positioning base point on the image be found by the analysis method described later.

[0180] In this embodiment, each target rocker arm 41 is divided into two sections and connected together by fasteners, wherein one end of the target rocker arm 41 connected to the ball target 43 is set to be S-shaped, which can maximize the integrity of the ball target 43 imaging without being blocked. Any rotation of the target rocker arm 41 can obtain a complete circular image of the ball target, and the surface of the target rocker arm 41 is sprayed with a low-reflectivity matte coating to prevent the light source of the ball target 43 reflected by it from being captured by the camera and affecting the imaging quality. The target assembly 4 also includes a target locking bolt 44, which is installed on the target clamp 42, one end of which can pass through the target clamp 42 and abut against the reference shaft 1. When the target locking bolt 44 is tightened, it is used to lock the position of the ball target 43. The target locking bolt 44 adopts a butterfly bolt for easy operation.

[0181] like Fig.11 , Fig.12As shown, in this embodiment, the ball target 43 includes a target cover 431, a wick 432 and a bottom cover 433. The target cover 431 is provided with a bottom cover connection port 4311, and the bottom cover 433 is mounted on the bottom cover connection port 4311. The wick 432 is provided with a wick connecting rod 4321. The wick 432 is placed in the target cover 431 and is fixedly connected to the bottom cover 433 through the wick connecting rod 4321. The wick 432 includes a lamp bead 4322 and a wick housing formed by bolting two hemispherical covers 4323. The wick connecting rod 4321 is fixedly connected to the housing of the wick 432 and is provided with a threading hole for threading a wire. The lamp bead 4322 is mounted on the hemispherical cover 4323 and is electrically connected to the wire. A plurality of lamp bead mounting holes 43231 are evenly distributed on the hemispherical cover 4323. The lamp bead 4322 is provided with a plurality of lamp bead mounting holes, and each lamp bead mounting hole 43231 is provided with a lamp bead 4322. The outer surface of the hemispherical cover 4323 is a mirror reflective surface. The target cover 431 is formed by one-time casting of epoxy resin, and the outer surface is frosted to evenly diffusely reflect the light source of the internal wick 432, thereby improving the target image area and brightness uniformity in the image. A circular hole is provided at the end of the target cover 431, and the aperture is larger than the outer contour diameter of the wick 432. A female thread is provided on the hole wall to be screwed in and fastened with the bottom cover 433. The thread does not penetrate the wall thickness and is used for limiting to prevent the bottom cover 433 from being screwed into the target cover 431. The wick 432 is spherical as a whole, and a number of LED lamp beads 4322 are embedded in the surface of the wick 432 shell, which is threadedly connected and fixed to the bottom cover 433 through the wick connecting rod 4321, and the center of the spherical shell of the wick 432 coincides with the center of the target cover 431. The bottom cover 433 is formed by one-time casting of epoxy resin, the outer surface is frosted, the side is threaded, and a screw sleeve for threaded connection with the wick connecting rod 4321 is embedded in the center of the bottom cover 433, and the other end of the screw sleeve is used to connect the entire ball target 43 with the target rocker arm 41. The lamp bead 4322 uses an infrared emitting diode to emit invisible infrared light to distinguish it from the background visible light, thereby improving the recognition efficiency of the target image in the image.

[0182] Bull's-eye space coordinate satellite determination method embodiment:

[0183] An embodiment of a method for determining the space coordinates of a bull's eye by satellite according to the present invention is based on the above-mentioned embodiment of a visual dynamic reference device based on satellite positioning, and includes:

[0184] S1: Arrange the device so that the reference axis 1 remains perpendicular to the horizontal plane.

[0185] S2: Adjust the device to adjust the satellite signal receiving component 2 up and down until the laser emitted by the aiming component 3 and the antenna plane elevation mark 212 of the satellite signal receiving component 2 are located in the same plane.

[0186] S3: Start the satellite signal receiving component 2 and obtain the position space coordinates of the satellite signal receiving component 2.

[0187] S4: Calculate the bull's eye spatial coordinates, and obtain the bull's eye spatial coordinates of the target component 4 according to the position spatial coordinates of the satellite signal receiving component 2 .

[0188] Among them, S4 includes:

[0189] refer to Fig.13 , the position coordinates of the satellite signal receiving component 2 are obtained as ( x S ，y S ，z S ), then the bull's-eye spatial coordinates of target assembly 4 are ( x T ，y T ，z T ):

[0190]

[0191] In the above formula, the symbols have the following meanings: x T —Bull's eye of target assembly 4 x coordinate; y T —Bull's eye of target assembly 4 y coordinate; z T —Bull's eye of target assembly 4 z coordinate; x S —Antenna center of satellite signal receiving component 2 x coordinate; y S —Antenna center of satellite signal receiving component 2 y coordinate; z S —Antenna center of satellite signal receiving component 2 z coordinate; h —The relative height between the antenna plane elevation mark 212 and the rotation center of the target assembly 4, which remains fixed after the equipment is adjusted and is a known parameter.

[0192] Embodiment of the method for visually measuring the coordinates of the bull's eye image plane:

[0193] An embodiment of a method for visually measuring the coordinates of a bull's eye image plane according to the present invention is based on the above-mentioned embodiment of a visual dynamic reference device based on satellite positioning, and includes steps T1 to T4:

[0194] T1: Acquire the target component image, rotate the target component 4, and take at least two images of the target component 4 when the target component 4 is at different angles. Fig.14 As shown, four groups of images of the target assembly 4 at different positions are taken. The more images collected, the smaller the subsequent calculation error.

[0195] T2: Connect the centers of the ball targets 43 in the same image and obtain the image plane coordinates of the centers, such as Fig.15 shown.

[0196] T3: Superimpose all images according to the image plane coordinate system to obtain the superimposed image of all circle centers and connecting lines in the same image plane coordinate system, such as Fig.16 shown.

[0197] T4: Obtain the coordinates of the intersection of the connecting lines according to the superimposed image, and obtain the coordinates of the bull's eye image plane according to the coordinates of the intersection of the connecting lines.

[0198] Step T2 includes:

[0199] The image of the target assembly 4 is identified by a boundary algorithm to obtain a circular boundary in the image; the center of the ball target 43 in the image is restored according to the circular boundary; and the centers of the ball targets 43 in the same image are connected.

[0200] Theoretically, the lines connecting the centers of the ball targets 43 in each image should intersect at one point. However, in practice, due to the error in recognizing the circular boundary in the image, the lines may not intersect at one point, thus forming the following situation: Fig.17 The multiple intersection points P1 to P6 shown in FIG. 1 and FIG. 2 will enclose a polygonal area. In this case, in order to eliminate this error, it is necessary to find a point M that is closest to the point where the bull's-eye line should intersect. Therefore, when executing step T4, the following situations are further included:

[0201] Step T4 includes:

[0202] When all the connecting lines intersect at the same intersection point, the intersection point is the image position of the rotation center of the target assembly 4, and the coordinates of the intersection point are the coordinates of the bull's eye image plane.

[0203] Step T4 also includes:

[0204] Case 1: When there are two connecting lines, there is an intersection point between the two connecting lines. The image plane coordinates of the intersection point are obtained according to the image plane coordinates of the four circle centers on the two connecting lines. The image plane coordinates of the intersection point are the image plane coordinates of the bull's eye.

[0205] Case 2: When there are more than three connecting lines and there are more than three intersection points between the connecting lines, firstly, the image plane coordinates of all the intersection points are obtained according to the image plane coordinates of all the circle centers on the connecting lines, and then the image plane coordinates of the bull's eye are obtained according to the image plane coordinates of all the intersection points.

[0206] Based on the above two situations, it further includes:

[0207] Constructing the error function E， To calculate the coordinates of the bull's eye image plane coordinates M ( x M , y M ):

[0208]

[0209] Where n is the number of connections; x i and y i Represents the image plane coordinates of the center of a ball target in the i-th image;

[0210] When M( x M , y M ) makes the error function E When the minimum value is obtained, point M is the image plane coordinate of the center of the target determined by multiple ball target positions in the image plane.

[0211] Scenario 1 further includes:

[0212] Assume that the image plane coordinates of the two centers on the same line are ( x i , y i )and( x’ i , y’ i );

[0213] The image plane coordinates of the four circle centers on the two connecting lines are ( x 1, y 1) and ( x’ 1, y’ 1) and ( x 2, y 2) and ( x’ 2, y’ 2), then the coordinates of the bull's eye image plane coordinates M ( x M , y M ):

[0214]

[0215] The second scenario further includes:

[0216] There are three lines, three lines exist P 1. P 2. P 3Three intersection points, P 1. P 2. P 3 Press x Sort coordinates in ascending order;

[0217] The image plane coordinates of the six circle centers on the three connecting lines are ( x 1, y 1) and ( x’ 1, y’ 1) ( x 2, y 2) and ( x’ 2, y ’ 2) and ( x 3, y 3) and ( x’ 3, y’ 3);

[0218] First calculate λ 1. λ 2. λ 3Three parameters:

[0219]

[0220]

[0221]

[0222]

[0223] according to λ 1. λ 2. λ 3 Analyze and obtain the coordinates of point M.

[0224] according to λ 1. λ 2. λ 3 The coordinates of point M obtained by analysis include:

[0225] when λ 1. λ 2. λ3 are all greater than -1 / 2, the coordinates of point M ( x M , y M )middle:

[0226]

[0227] in,

[0228]

[0229] .

[0230] according to λ 1. λ 2. λ 3 The coordinates of point M obtained by analysis also include:

[0231] when λ When 1 is less than -1 / 2, the coordinates of point M ( x M , y M )middle: x M = x 1, y M = y 1.

[0232] according to λ 1. λ 2. λ 3 The coordinates of point M obtained by analysis also include:

[0233] when λ When 2 is less than -1 / 2, the coordinates of point M ( x M , y M )middle: x M = x 2; y M = y 2.

[0234] according to λ 1. λ 2. λ 3 The coordinates of point M obtained by analysis also include:

[0235] when λ 3 is less than -1 / 2, the coordinates of point M ( x M , y M )middle: xM = x 3; y M = y 3.

[0236] In this embodiment, there are four lines, and a maximum number of intersections, namely six intersections, is formed (eg Fig.18 As shown), the second scenario in this implementation further includes:

[0237] use P ij Indicates l i Straight line and l j The point where the lines intersect;

[0238] First, the image plane coordinates of the center of the circle on the four connecting lines are used to represent l 1. l 2. l 3The intersection of three lines P ij ( X ij , Y ij ),in:

[0239]

[0240]

[0241] The first l 1 ～l Equations of 3 straight lines:

[0242] ;

[0243] When the fourth line is introduced, the coordinates of the intersection of the fourth line and other lines are:

[0244]

[0245] The additional intersection points due to the introduction of the fourth line P 14 、P 24 、P 34 Calculate the eigenvalue Δ 14 , Δ 24 and Δ 34 :

[0246]

[0247] Three eigenvalues ​​Δ 14 , Δ 24 and Δ 34 There must be two greater than 0 and one less than 0. The intersection point corresponding to the eigenvalue less than 0 is taken as the coordinate of the center image plane coordinate M ( x M , y M ), in this embodiment, it is calculated that Δ 14 >0,Δ 24 >0,Δ 34 <0, then P 34 ( X 34 , Y 34 ) is point M.

[0248] In other embodiments, scenario 2 also includes:

[0249] exist n Lines, n ≥5, n is a positive integer, n There are at most n ( n -1) / 2 intersection points.

[0250] The coordinates of the bull's eye image plane coordinate M are calculated by area search, such as Fig.19 shown.

[0251] And μ ≤ δ As the cutoff condition for the area search, μ is the step length, δ is the imaging sensor pixel size.

[0252] The coordinates of the bull's eye image plane coordinate M calculated by area search include:

[0253] E1: Calculate the center line l 1~ l n The equation of the straight line, the number of intersection points of all connecting lines m = n ( n -1) / 2, calculate the coordinates of all intersection points according to the straight line equation ( x i , y i ), i =1,2,…… m .

[0254] Pick L1: x = min ( x i ), L 2: x = max ( x i ), L 3: y = min ( y i ), L 4: y = max ( y i ) The area enclosed by the four straight lines is taken as the initial area, and the initial area envelops all the intersection points of the connecting lines.

[0255] E2: The geometric center C formed by the intersection of all lines is used as the initial center of the M point search. The coordinates of C ( X C ，Y C )middle:

[0256] .

[0257] E3: Take half of the minimum length and width of the initial search area as the initial search step μ :

[0258] .

[0259] E4: C Centered on μ is the step length, C Search points are arranged in eight directions orthogonal to the point, and eight search points are obtained, such as Fig. 20 As shown:

[0260] .

[0261] E5: Exclude the eight search points that are beyond the initial search area to obtain qualified search points, and calculate each qualified search point separately. i and m The distances between the intersection points of the lines are summed up to get the distance of each search point. d , and take d The minimum value of D :

[0262] .

[0263] like μ ≤ δ , indicating that the accuracy is satisfied, then the outputD and D Corresponding points P The coordinates of the point P The coordinates of are the coordinates of the bull's eye image plane coordinates M.

[0264] by μ ≤ δ When used as a cutoff condition to determine whether the accuracy is met, if the accuracy is not met, it includes:

[0265] use P’ Indicates that at this time D The corresponding point.

[0266] like P’ The coordinates of C If the coordinates are the same, then the initial search step in E3 is μ The value of is updated to μ / 2 and enter E4.

[0267] by μ ≤ δ When used as a cutoff condition to determine whether the accuracy is met, if the accuracy is not met, it also includes:

[0268] like P’ The coordinates of C If the coordinates of are not the same, then replace C The coordinates of are updated to P’ Coordinates, step length μ No change, enter E5 after setting up the search point.

[0269] Embodiment of the control field construction method of the visual measurement device:

[0270] An embodiment of a control field construction method of a visual measurement device of the present invention is based on the above-mentioned visual dynamic reference device embodiment, the above-mentioned bull's eye space coordinate satellite measurement method embodiment and the above-mentioned bull's eye image plane coordinate visual measurement method embodiment, comprising:

[0271] At least two visual dynamic reference devices are arranged in the camera field of view, and the bull's eye space coordinates and the bull's eye image plane coordinates of the two visual dynamic reference devices are calculated and obtained respectively; the control field is analyzed according to the bull's eye space coordinates and the bull's eye image plane coordinates of the visual dynamic reference device to obtain the control field of the visual measurement device and complete the orientation of the camera.

[0272] like Fig.21 , Fig. 22 As shown, in this embodiment, three visual dynamic reference devices are arranged in the camera field of view, and the object coordinates of each visual dynamic reference device are determined by the embodiment of the bull's eye space coordinate satellite determination method, that is, the bull's eye space coordinates. The bull's eye space coordinates of the three visual dynamic reference devices are respectively ( xT1 , y T1 , z T1 )、( x T2 , y T2 , z T2 )and( x T3 , y T3 , z T3 ), the coordinates of the three visual dynamic reference devices in the camera imaging are determined by the visual measurement method of the bull's eye image plane coordinates, that is, the bull's eye image plane coordinates. The bull's eye image plane coordinates of the three visual dynamic reference devices are respectively ( x M1 , y M1 )、( x M2 , y M2 )and( x M3 , y M3 ), through photogrammetry, the control field can be analyzed by the known coordinates of the same-name points in the object and phase directions, thereby completing the orientation of the camera. The specific analysis process is an existing technology and will not be repeated here.

[0273] Calibration ball target embodiment:

[0274] The calibration ball target embodiment of the present invention is as follows Fig.23 As shown, the calibration ball target of this embodiment further includes a calibration ball target converter 5 and a calibration target 53 on the basis of the above-mentioned visual dynamic reference device embodiment. The satellite signal receiving component 2 is removed and replaced with the calibration ball target converter 5. The two ends of the calibration ball target converter 5 are a converter ball target bolt 51 and a converter spindle bolt hole 52, respectively. The converter spindle bolt hole 52 is connected to the upper end of the reference shaft 1, and the calibration target 53 is installed on the converter ball target bolt 51. The structure of the calibration target 53 is the same as that of the ball target 43, and will not be repeated here.

[0275] It can be seen from the above-mentioned embodiment of the visual dynamic reference device that the reference provided by the visual dynamic reference device is based on the premise that the centers of the two ball targets 43 are strictly collinear with the rotating axis of the target rocker arm 41. However, since the two ball targets 43 are not fixed on the target rocker arm 41, but are detachably installed on the target rocker arm 41, it is impossible to ensure that the two ball targets 43 are strictly collinear with the centers of the target rocker arm 41 each time they are disassembled and assembled, which will cause errors in the analysis results. For this reason, the visual dynamic reference device needs to be calibrated by calibrating the ball targets before use, and calibrated to the best working state to minimize the error of the instrument itself.

[0276] Instrument calibration and calibration method examples:

[0277] An embodiment of an instrument calibration and calibration method of the present invention, based on the above-mentioned calibration ball target embodiment, comprises:

[0278] F1: Place at least two cameras with different shooting angles above the calibration target.

[0279] F2: Use at least two cameras to shoot the calibration ball target twice or more, and obtain a calibration image. Each time the ball target 43 is rotated to adjust the angle to a different position, and the height of the calibration target 53 is adjusted to a different position by lifting and lowering, such as Fig.24 As shown; during calibration, the position of the ball target 43 can be changed multiple times and photographed multiple times, which is beneficial to improving the calibration accuracy.

[0280] F3: Analyze the calibration image and calibrate and adjust the position of the ball target 43 on the target assembly 4.

[0281] In step F2 of this embodiment: when shooting for the first time, the reference axis 1 is adjusted to the lowest position, so that the calibration target 53 is positioned at the lowest position, and the ball target 43 on the target assembly 4 is positioned at the first angle position; when shooting for the second time, the reference axis 1 is adjusted to the highest position, so that the calibration target 53 is positioned at the highest position, and the target assembly 4 is rotated to change the ball target 43 on the target assembly 4 to the second angle position. Based on the above step F2, four images of the ball target 43 at different positions taken by two camera positions can be obtained. The purpose of using two camera positions is to avoid the extension line of the center connection line of the calibration target 53 on the image obtained by a certain camera position blocking the intersection point of the center connection line of the ball target 43 in the line of sight, forming the illusion that three lines intersect at one point, which cannot be distinguished by a single camera position.

[0282] like Fig.25 , Fig.26 As shown, step F3 of this embodiment includes:

[0283] F31: Connect the centers of the ball target 43 and the calibration target 53 in the same image, and obtain the image plane coordinates of the centers.

[0284] F32: Superimpose all images from the same camera according to the image plane coordinate system to obtain a superimposed image with all circle centers and connecting lines in the same image plane coordinate system.

[0285] F33: Analyze the intersection relationship between the connecting line of the center of the ball target 43 and the extended line of the connecting line of the center of the calibration target 53 based on the superimposed images of all cameras.

[0286] F34: Analyze whether the installation of the ball target 43 meets the standards based on the intersection relationship.

[0287] In the above step F31:

[0288] The images of the ball target 43 and the calibration target 53 are identified by a boundary algorithm, the circular boundary in the image is obtained, and the centers of the ball target 43 and the calibration target 53 in the image are restored according to the circular boundary; the centers of the ball target 43 and the calibration target 53 in the same image are connected.

[0289] In the above step F34:

[0290] If the connecting line of the center of the ball target 43 and the extended line of the connecting line of the center of the calibration target 53 intersect at one point, the installation of the ball target 43 meets the standard. If there are multiple intersections between the connecting line of the center of the ball target 43 and the extended line of the connecting line of the center of the calibration target 53, calculate the point M closest to the multiple intersections and construct the error function E (The function is the same as the error function in step T4) to calculate the error value of the axis deviation at this moment, and judge whether the installation of the ball target 43 meets the standard according to the error values ​​in all superimposed images.

[0291] Judging whether the installation of the ball target 43 meets the standards according to the error values ​​in all the superimposed images includes:

[0292] The error values ​​in all superimposed images are compared with the preset difference limit. When all error values ​​are less than the difference limit, it is determined that the installation of the ball target 43 meets the standard. The difference limit is set according to the photogrammetry accuracy.

[0293] Judging whether the installation of the ball target 43 meets the standards according to the error values ​​in all the superimposed images includes:

[0294] When the error value is not less than the difference limit value, it is determined that the installation of the ball target 43 does not meet the standard.

[0295] When the installation of the ball target 43 does not meet the standard, the plane position of the ball target 43 is adjusted by controlling the depth of the adjusting screw 45 screwed into the target rocker arm 41 .

[0296] Adjusting the plane position of the ball target 43 by controlling the depth of the adjusting screw 45 screwed into the target rocker arm 41 includes:

[0297] A1: Lock the target rocker arm 41 and slightly adjust the plane position of one of the ball targets 43 to make the ball target 43 approach or move away from the target rocker arm 41 .

[0298] A2: Recalculate the error values ​​of the superimposed images of all cameras and determine whether the installation of the ball target 43 meets the standards.

[0299] A3: If the axis deviation decreases, it means that the adjustment direction of the ball target 43 is correct and the adjustment should continue; if the deviation increases, it means that the adjustment direction is opposite and the adjustment should be reversed.

[0300] A4: Enter A2 until it is determined that the ball target 43 is installed up to standard.

[0301] Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Any technician familiar with the art can make many possible changes and modifications to the technical solution of the present invention by using the technical content disclosed above without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention should fall within the scope of protection of the technical solution of the present invention.

Claims

1. A visual dynamic reference device based on satellite positioning, characterized in that: The invention comprises a reference shaft (1), a satellite signal receiving component (2), an aiming component (3) and a target component (4), wherein the aiming component (3) and the target component (4) are both rotatably mounted on the reference shaft (1), the satellite signal receiving component (2) is mounted on the upper end of the reference shaft (1), the reference shaft (1) comprises a shaft sleeve (11), a shaft rod (12) and an adjustment mechanism (13) for adjusting the height of the shaft rod (12), one end of the shaft rod (12) is inserted into the shaft sleeve (11) in a rotationally fixed manner via a sliding key, the other end of the shaft rod (12) extends out of the shaft sleeve (11) and is connected to the adjustment mechanism (13), the satellite signal receiving component (2) is mounted on the top end of the shaft rod (12), the satellite signal receiving component (2) comprises a satellite antenna (21) and a base station antenna (22), the base station antenna (22) is mounted on the satellite antenna (21), and the bottom of the satellite antenna (21) is provided with a base station antenna (22) for connecting to the reference shaft (1). The satellite antenna (21) is provided with an antenna plane center mark (211) and an antenna plane elevation mark (212); the antenna plane center mark (211) is engraved on the center of the top surface of the shell of the satellite antenna (21) and coincides with the center of the built-in antenna of the satellite antenna (21) in the plane position; the antenna plane elevation mark (212) is engraved on the side of the shell of the satellite antenna (21) and coincides with the inner center of the satellite antenna (21). The target assembly (4) is arranged to overlap at the height of the antenna center. The target assembly (4) comprises a target rocker arm (41), a target clamp (42) and two ball targets (43). The target clamp (42) is rotatably connected to the reference shaft (1). The target rocker arm (41) is provided with a pair of targets, which are respectively connected to two sides of the target clamp (42). A ball target (43) is installed on each target rocker arm (41). The ball targets (43) are connected to the target rocker arm (41) via an adjustment screw (45).

2. The visual dynamic reference device based on satellite positioning according to claim 1, characterized in that: The adjustment mechanism (13) comprises an adjustment thumbwheel (131), a track ring (132) and a sealing ring (133); the portion of the shaft (12) connected to the adjustment mechanism (13) is provided with an external thread; the adjustment thumbwheel (131) is provided with an internal thread and is threadedly connected to the shaft (12); the track ring (132) is cushioned below the adjustment thumbwheel (131) and is fixedly connected to the adjustment thumbwheel (131); the sealing ring (133) is connected to the top of the shaft sleeve (11) and forms an annular track with the shaft sleeve (11); the track ring (132) is provided with an extension portion slidably arranged in the annular track.

3. The visual dynamic reference device based on satellite positioning according to claim 1, characterized in that: The shaft (12) comprises a shaft body (120), a connecting screw sleeve (121) and a connecting screw rod (122); the connecting screw sleeve (121) is fixedly connected to the top end of the shaft body (120); one end of the connecting screw rod (122) is threadedly connected to the connecting screw sleeve (121), and the other end is connected to the satellite signal receiving component (2).

4. The visual dynamic reference device based on satellite positioning according to claim 1, characterized in that: A shaft sleeve bottom cover (111) for encapsulating the shaft rod (12) is provided at the bottom of the shaft sleeve (11).

5. The visual dynamic reference device based on satellite positioning according to claim 4, characterized in that: A leveling base (14) is provided at the bottom of the shaft sleeve (11), and the leveling base (14) comprises a reference shaft connecting plate (141), a base plate (142), and a three-point leveling mechanism (143) for adjusting the reference shaft connecting plate (141) to be horizontal; a positioning boss (1411) is provided on the reference shaft connecting plate (141) and is matched with the bottom of the shaft sleeve (11); a threaded hole is provided on the positioning boss (1411) for being fixedly connected to the shaft sleeve (11) via a fastener; and the three-point leveling mechanism (143) is installed between the reference shaft connecting plate (141) and the base plate (142).

6. The visual dynamic reference device based on satellite positioning according to any one of claims 1 to 5, characterized in that: The aiming assembly (3) comprises an aiming hoop (31), an aiming rocker arm (32) and a laser generator (33); the aiming hoop (31) is rotatably connected to the reference shaft (1); one end of the aiming rocker arm (32) is connected to the aiming hoop (31) and the other end is connected to the laser generator (33).

7. The visual dynamic reference device based on satellite positioning according to claim 6, characterized in that: The aiming assembly (3) further comprises a rocker arm locking bolt (34), wherein the rocker arm locking bolt (34) is mounted on the aiming hoop (31), and one end of the rocker arm locking bolt (34) can pass through the aiming hoop (31) and abut against the reference axis (1).

8. The visual dynamic reference device based on satellite positioning according to claim 7, characterized in that: One end of the target rocker arm (41) connected to the ball target (43) is configured to be S-shaped, and a low-reflectivity matte coating is sprayed on the surface.

9. The visual dynamic reference device based on satellite positioning according to claim 8, characterized in that: The target assembly (4) further comprises a target locking bolt (44), wherein the target locking bolt (44) is mounted on the target clamp (42), and one end of the target locking bolt (44) can pass through the target clamp (42) to abut against the reference shaft (1).

10. The visual dynamic reference device based on satellite positioning according to claim 9, characterized in that: The center line connecting the two ball targets (43) is perpendicular to and coplanar with the rotation axis of the target hoop (42).

11. The visual dynamic reference device based on satellite positioning according to claim 10, characterized in that: The ball target (43) comprises a target cover (431), a wick (432) and a bottom cover (433); the target cover (431) is provided with a bottom cover connection port (4311); the bottom cover (433) is mounted on the bottom cover connection port (4311); the wick (432) is provided with a wick connecting rod (4321); the wick (432) is placed in the target cover (431) and is fixedly connected to the bottom cover (433) via the wick connecting rod (4321).

12. The visual dynamic reference device based on satellite positioning according to claim 11, characterized in that: The wick (432) comprises a lamp bead (4322) and a wick shell formed by bolting two hemispherical covers (4323); the wick connecting rod (4321) is fixedly connected to the shell of the wick (432) and is provided with a threading hole for threading a wire; the lamp bead (4322) is mounted on the hemispherical cover (4323) and is electrically connected to the wire.

13. The visual dynamic reference device based on satellite positioning according to claim 12, characterized in that: The hemispherical cover (4323) is evenly distributed with a plurality of lamp bead mounting holes (43231), a plurality of lamp beads (4322) are provided, and each lamp bead mounting hole (43231) is equipped with a lamp bead (4322).

14. The visual dynamic reference device based on satellite positioning according to claim 13, characterized in that: The outer surface of the hemispherical cover (4323) is a mirror reflection surface.

15. A method for determining the space coordinates of a bull's eye through satellite, based on the visual dynamic reference device based on satellite positioning according to any one of claims 1 to 14, characterized in that: include: S1: arranging the device so that the reference axis (1) remains vertical; S2: adjusting the device to adjust the satellite signal receiving component (2) up and down until the laser emitted by the aiming component (3) and the antenna plane elevation mark (212) of the satellite signal receiving component (2) are located in the same plane; S3: starting the satellite signal receiving component (2) to obtain the position spatial coordinates of the satellite signal receiving component (2); S4: Calculating the bull's eye spatial coordinates, and obtaining the bull's eye spatial coordinates of the target component (4) based on the position spatial coordinates of the satellite signal receiving component (2).

16. The method for determining the satellite coordinates of the bull's-eye space according to claim 15, characterized in that: The S4 includes: The position coordinates of the satellite signal receiving component (2) are obtained as follows: x S ，y S ，z S ), then the bull's-eye spatial coordinates of the target assembly (4) are ( x T ，y T ，z T ): in, h Indicates the relative height between the antenna plane elevation mark (212) and the rotation center of the target assembly (4).

17. A method for visually measuring the coordinates of a bull's eye image plane, based on the visual dynamic reference device based on satellite positioning according to any one of claims 1 to 14, characterized in that: include: T1: acquiring an image of the target assembly, rotating the target assembly (4), and taking at least two images of the target assembly (4) when the target assembly (4) is located at different angles; T2: connecting the centers of the ball targets (43) in the same image and obtaining the image plane coordinates of the centers; T3: Superimpose all images according to the image plane coordinate system to obtain the superimposed image of all circle centers and connecting lines in the same image plane coordinate system; T4: obtaining the coordinates of the intersection points of the connecting lines according to the superimposed image, and obtaining the coordinates of the bull's eye image plane according to the coordinates of the intersection points of the connecting lines.

18. The method for visually measuring the plane coordinates of the bull's eye image according to claim 17, characterized in that: The T2 includes: Recognizing the image of the target component (4) by using a boundary algorithm to obtain a circular boundary in the image; Restoring the center of the ball target (43) in the image according to the circular boundary; Connect the centers of the ball targets (43) in the same image.

19. The method for visually measuring the plane coordinates of the bull's eye image according to claim 18, characterized in that: The T4 includes: When all the connecting lines intersect at the same intersection point, the intersection point is the image position of the rotation center of the target assembly (4), and the coordinates of the intersection point are the coordinates of the bull's eye image plane.

20. The method for visually measuring the plane coordinates of the bull's eye image according to claim 19, characterized in that: The T4 includes: Case 1: When there are two connecting lines, there is an intersection point between the two connecting lines. The image plane coordinates of the intersection point are obtained according to the image plane coordinates of the four circle centers on the two connecting lines. The image plane coordinates of the intersection point are the image plane coordinates of the bull's eye. Case 2: When there are more than three connecting lines and there are more than three intersection points between the connecting lines, firstly, the image plane coordinates of all the intersection points are obtained according to the image plane coordinates of all the circle centers on the connecting lines, and then the image plane coordinates of the bull's eye are obtained according to the image plane coordinates of all the intersection points.

21. The method for visually measuring the plane coordinates of the bull's eye image according to claim 20, characterized in that: Constructing the error function E， To calculate the coordinates of the bull's eye image plane coordinates M ( x M , y M ): Where n is the number of connections; x i and y i represents the image plane coordinates of the center of a ball target (43) in the i-th image; When M( x M , y M ) makes the error function E When the minimum value is obtained, point M is the image plane coordinate of the center of the target determined by the positions of the plurality of ball targets (43) in the image plane.

22. The method for visually measuring the plane coordinates of the bull's eye image according to claim 21, characterized in that: The first situation includes: Assume that the image plane coordinates of the two centers on the same line are ( x i , y i )and( x’ i , y’ i ); The image plane coordinates of the four circle centers on the two connecting lines are ( x 1, y 1) and ( x’ 1, y’ 1) and ( x 2, y 2) and ( x’ 2, y’ 2), then the coordinates of the bull's eye image plane coordinate M are ( x M , y M ): 。 23. The method for visually measuring the plane coordinates of the bull's eye image according to claim 22, characterized in that: The second scenario includes: There are three lines, three lines exist P 1. P 2. P 3Three intersection points, P 1. P 2. P 3 Press x Sort coordinates in ascending order; The image plane coordinates of the six circle centers on the three connecting lines are ( x 1, y 1) and ( x’ 1, y’ 1) ( x 2, y 2) and ( x’ 2, y’ 2) and ( x 3, y 3) and ( x’ 3, y’ 3); First calculate λ 1. λ 2. λ 3Three parameters: according to λ 1. λ 2. λ 3 Analyze and obtain the coordinates of point M.

24. The method for visually measuring the plane coordinates of the bull's eye image according to claim 23, characterized in that: The basis λ 1. λ 2. λ 3 The coordinates of point M obtained by analysis include: when λ 1. λ 2. λ 3 are all greater than -1 / 2, the coordinates of point M ( x M , y M )middle: in, 。 25. The method for visually measuring the plane coordinates of the bull's eye image according to claim 24, characterized in that: The basis λ 1. λ 2. λ 3 The coordinates of point M obtained by analysis also include: when λ When 1 is less than -1 / 2, the coordinates of point M ( x M , y M )middle: x M = x 1, y M = y 1.

26. The method for visually measuring the plane coordinates of the bull's eye image according to claim 25, characterized in that: The basis λ 1. λ 2. λ 3 The coordinates of point M obtained by analysis also include: when λ When 2 is less than -1 / 2, the coordinates of point M ( x M , y M )middle: x M = x 2; y M = y 2.

27. The method for visually measuring the plane coordinates of the bull's eye image according to claim 26, characterized in that: The basis λ 1. λ 2. λ 3 The coordinates of point M obtained by analysis also include: when λ 3 is less than -1 / 2, the coordinates of point M ( x M , y M )middle: x M = x 3; y M = y 3.

28. The method for visually measuring the plane coordinates of the bull's eye image according to claim 21, characterized in that: The second scenario also includes: There are four lines, and there are at most six intersection points of the four lines; use P ij Indicates l i Straight line and l j The point where the lines intersect; First, the image plane coordinates of the center of the circle on the four connecting lines are used to represent l 1. l 2. l 3The intersection of three lines P ij ( X ij , Y ij ),in: The first l 1 ～l Equations of 3 straight lines: ； When the fourth line is introduced, the coordinates of the intersection of the fourth line and other lines are: ； The additional intersection points due to the introduction of the fourth line P 14 、P 24 、P 34 Calculate the eigenvalue Δ 14 , Δ 24 and Δ 34 : ； Three eigenvalues ​​Δ 14 , Δ 24 and Δ 34 There must be two greater than 0 and one less than 0. The intersection point corresponding to the eigenvalue less than 0 is taken as the coordinate of the center image plane coordinate M ( x M , y M ).

29. The method for visually measuring the plane coordinates of the bull's eye image according to claim 21, characterized in that: The second scenario also includes: exist n Lines, n ≥5, n is a positive integer, n There are at most n ( n -1) / 2 intersection points; Calculate the coordinates of the bull's eye image plane coordinates M by area search; And μ ≤ δ As the cutoff condition for the area search, μ is the step length, δ is the imaging sensor pixel size.

30. The method for visually measuring the plane coordinates of the bull's eye image according to claim 29, characterized in that: The coordinates of the bull's eye image plane coordinates M calculated by area search include: E1: Calculate the center line l 1~ l n The equation of the straight line, the number of intersection points of all connecting lines m = n ( n -1) / 2, calculate the coordinates of all intersection points according to the straight line equation ( x i , y i ), i =1,2,…… m ; Pick L 1: x = min ( x i ), L 2: x = max ( x i ), L 3: y = min ( y i ), L 4: y = max ( y i ) The area enclosed by the four straight lines is taken as the initial area, and the initial area envelops all the intersection points of the connecting lines; E2: The geometric center C formed by the intersection of all lines is used as the initial center of the M point search. The coordinates of C ( X C ，Y C )middle: ； E3: Take half of the minimum length and width of the initial search area as the initial search step μ : ； E4: C As the center, μ is the step length, C Search points are arranged in eight directions orthogonal to the point, and eight search points are obtained: ； E5: Eliminate the eight search points that are beyond the initial search area to obtain qualified search points, and calculate each qualified search point separately. i and m The distances between the intersection points of the lines are summed up to get the distance of each search point. d , and take d The minimum value of D : ； like μ ≤ δ , indicating that the accuracy is satisfied, then the output D and D Corresponding points P The coordinates of the point P The coordinates of are the coordinates of the bull's eye image plane coordinates M.

31. The method for visually measuring the plane coordinates of the bull's eye image according to claim 30, characterized in that: by μ ≤ δ When used as a cutoff condition to determine whether the accuracy is met, if the accuracy is not met, it includes: use P’ Indicates that at this time D The corresponding point; like P’ The coordinates of C If the coordinates are the same, the initial search step length described in E3 is μ The value of is updated to μ / 2 and enter E4.

32. The method for visually measuring the plane coordinates of the bull's eye image according to claim 31, characterized in that: by μ ≤ δ When used as a cutoff condition to determine whether the accuracy is met, if the accuracy is not met, it also includes: like P’ The coordinates of C If the coordinates of are not the same, then replace C The coordinates of are updated to P’ Coordinates, step length μ No change, enter E5 after setting up the search point.

33. A control field construction method for a visual measurement device, based on the visual dynamic reference device according to any one of claims 1 to 14 and the method according to any one of claims 15 to 32, characterized in that: include: At least two of the visual dynamic reference devices are arranged in the camera field of view, and the bull's eye space coordinates and the bull's eye image plane coordinates of the two visual dynamic reference devices are calculated and obtained respectively; a control field is analyzed according to the bull's eye space coordinates and the bull's eye image plane coordinates of the visual dynamic reference device to obtain the control field of the visual measurement device and complete the orientation of the camera.

34. A calibration ball target based on the device according to any one of claims 1 to 14, characterized in that: The calibration ball target further comprises a calibration ball target converter (5) and a calibration target (53) on the basis of the device. The satellite signal receiving component (2) is removed and replaced with the calibration ball target converter (5). The two ends of the calibration ball target converter (5) are a converter ball target bolt (51) and a converter spindle bolt hole (52). The converter spindle bolt hole (52) is connected to the upper end of the reference shaft (1). The calibration target (53) is mounted on the converter ball target bolt (51).

35. The calibration ball target according to claim 34, characterized in that: The calibration target (53) has the same structure as the ball target (43).

36. An instrument calibration method, based on the calibration ball target according to claim 34 or 35, characterized in that: The method comprises: F1: at least two cameras with different shooting angles are arranged at a position higher than the calibration ball target; F2: photographing the calibration ball target more than twice by means of the at least two cameras to obtain a calibration image, wherein each time the ball target (43) is photographed, the angle is adjusted to a different position by rotation, and the height of the calibration target (53) is adjusted to a different position by lifting; F3: Analyze the calibration image and calibrate and adjust the position of the ball target (43) on the target assembly (4).

37. The instrument calibration method according to claim 36, characterized in that: The F2 comprises: during the first shooting, adjusting the reference axis (1) to the lowest position, so that the calibration target (53) is positioned at the lowest position, and the ball target (43) on the target assembly (4) is positioned at a first angle position; during the second shooting, adjusting the reference axis (1) to the highest position, so that the calibration target (53) is positioned at the highest position, and rotating the target assembly (4) so ​​that the ball target (43) on the target assembly (4) is changed to a second angle position.

38. The instrument calibration method according to claim 37, characterized in that: The F3 includes: F31: connecting the centers of the ball target (43) and the calibration target (53) in the same image, and obtaining the image plane coordinates of the centers; F32: Superimpose all images of the same camera according to the image plane coordinate system to obtain the superimposed image of all circle centers and connecting lines in the same image plane coordinate system; F33: Analyze the intersection relationship between the connecting line of the center of the ball target (43) and the extended line of the connecting line of the center of the calibration target (53) based on the superimposed images of all cameras; F34: Analyze whether the installation of the ball target (43) meets the standards based on the intersection relationship.

39. The instrument calibration method according to claim 38, characterized in that: The F31 includes: The images of the ball target (43) and the calibration target (53) are identified by a boundary algorithm to obtain a circular boundary in the image, and the centers of the ball target (43) and the calibration target (53) in the image are restored according to the circular boundary; Connect the centers of the ball target (43) and the calibration target (53) in the same image.

40. The instrument calibration method according to claim 39, characterized in that: The F34 includes: If there are multiple intersections between the connecting line of the center of the ball target (43) and the extended line of the connecting line of the center of the calibration target (53), the point M closest to the multiple intersections is calculated, and an error function is constructed. E The error value of the axis deviation at this moment is calculated, and whether the installation of the ball target (43) meets the standard is judged according to the error values ​​in all the superimposed images.

41. The instrument calibration method according to claim 40, characterized in that: Judging whether the installation of the ball target (43) meets the standards according to the error values ​​in all the superimposed images includes: The error values ​​in all the superimposed images are compared with a preset difference limit value, and when all the error values ​​are smaller than the difference limit value, it is determined that the installation of the ball target (43) meets the standard.

42. The instrument calibration method according to claim 41, characterized in that: Judging whether the installation of the ball target (43) meets the standards according to the error values ​​in all the superimposed images includes: When the error value is not less than the difference limit value, it is determined that the installation of the ball target (43) does not meet the standard; When the installation of the ball target (43) does not meet the standard, the plane position of the ball target (43) is adjusted by controlling the depth of the adjusting screw (45) screwed into the target rocker arm (41).

43. The instrument calibration method according to claim 42, characterized in that: The method of adjusting the plane position of the ball target (43) by controlling the depth of the adjusting screw (45) screwed into the target rocker arm (41) comprises: A1: Lock the target rocker arm (41) and slightly adjust the plane position of one of the ball targets (43) so that the ball target (43) approaches or moves away from the target rocker arm (41); A2: recalculate the error values ​​of the superimposed images of all cameras and determine whether the installation of the ball target (43) meets the standards; A3: If the axis deviation decreases, it means that the adjustment direction of the ball target (43) is correct and the adjustment should continue; if the deviation increases, it means that the adjustment direction is opposite and the adjustment should be reversed; A4: Enter A2 until it is determined that the ball target (43) has been installed to the required standard.

Images