Large-scale multi-positioner space ranging system and method based on visible light

Abstract

The application discloses a large-scale multi-positioning instrument space ranging system and method based on visible light. The system comprises three positioners, three marking bridge objects, a level, a marking probe and a computer; the three positioners are a first positioner, a second positioner and a third positioner; the three marking bridge objects are a first single-face marking bridge object, a second single-face marking bridge object and a double-face marking bridge object. The ranging method comprises the following steps: step 1, erecting the ranging system; step 2, determining the positions of the three positioners and the three marking bridge objects; step 3, the positioners identifying and distinguishing the marking bridge objects and the marking probe; step 4, unifying the coordinate systems and converting the coordinates; and step 5, measuring the distance in the ranging range of the system by using the marking probe. The application unifies the coordinate information of multiple positioners on a specific marking bridge object, and the related coordinate information of the marking bridge object is easier to obtain, thereby widening the ranging range and ensuring the test precision.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of space ranging technology, and particularly relates to a large-scale multi-positioning-instrument space ranging system and method based on visible light. BACKGROUND

[0002] Current space ranging methods mainly include laser sensing ranging and binocular camera vision ranging. Laser ranging uses light beam recognition and pickup to capture the flight time of laser pulses between two space targets, and calculates the distance between the two targets. Laser ranging is mainly applied to long-distance detection, such as satellite height measurement and ground combat system ranging. Binocular vision ranging uses two cameras to simulate binocular vision, analyzes images of objects at different positions, and detects distances. Binocular vision ranging involves image processing, feature extraction, point matching, and pose solving, and the algorithm is relatively complex. However, the accuracy of binocular vision ranging in measuring close-range objects is higher than that of laser ranging.

[0003] Laser ranging systems are complex to arrange, require high object surface, and the intensity of laser pulse echoes is affected by atmospheric and target scattering characteristics, resulting in large fluctuations. Real-time monitoring of laser power to troubleshoot is an important link, which is costly and not suitable for small and medium distance ranging. Current binocular camera vision ranging is affected by the field of view of the camera, and is mainly used for close-range point detection, with a detection range of about 1.5 meters. Moreover, as the range increases, the relative error of ranging becomes larger. Therefore, it is necessary to improve the binocular camera vision ranging method, increase the test range, and simplify the test operation. SUMMARY

[0004] In view of the deficiencies of the prior art, the present application aims to provide a large-scale multi-positioning-instrument space ranging system and method based on visible light.

[0005] The technical solution of the present application to solve the technical problem of the system is to provide a large-scale multi-positioning-instrument space ranging system based on visible light, characterized in that the system comprises three positioning instruments, three marking bridge objects, a level, a marking probe, and a computer. The three positioning instruments are a first positioning instrument, a second positioning instrument, and a third positioning instrument. The three marking bridge objects are a first single-face marking bridge object, a second single-face marking bridge object, and a double-face marking bridge object.

[0006] The front surface of the first single-face marking bridge and the second single-face marking bridge is provided with at least three marks, the distance between any two marks on the same surface is different, and the back surface is not provided with marks; the front surface and the back surface of the double-face marking bridge are both provided with at least three marks, the distance between any two marks on the same surface is different; the marks on the front surface of the double-face marking bridge are arranged in the same way as the front surface of the second single-face marking bridge, and the marks on the back surface are different from those of the first single-face marking bridge and the second single-face marking bridge; the end of the marking probe is provided with at least three marks on the front surface, the distance between any two marks is different, and the back surface is not provided with marks; the marking probe is used for measuring the distance in the distance measuring range of the system.

[0007] The level is installed on the first single-face marking bridge; the distance measuring software is installed in the computer; the first position meter, the second position meter and the third position meter are in communication connection with the computer; the three position meters are placed at intervals and are divided into two kinds of placement modes:

[0008] The first placement mode: the three position meters are placed on the same side, and are sequentially the first position meter, the second position meter and the third position meter from left to right, and the first position meter and the third position meter have an inclination angle relative to the vertical plane; the first single-face marking bridge is located between the first position meter and the second position meter and is located in the field of view of the first position meter and the second position meter; the second single-face marking bridge is located between the second position meter and the third position meter and is located in the field of view of the second position meter and the third position meter.

[0009] The second placement mode: sequentially from left to right are the first position meter, the second position meter and the third position meter, the first position meter and the second position meter are placed on the same side, and the third position meter is placed on the opposite side of the first position meter and the second position meter, and the third position meter is reversely arranged, and the first position meter has an inclination angle relative to the vertical plane; the first single-face marking bridge is located between the first position meter and the second position meter and is located in the field of view of the first position meter and the second position meter; the double-face marking bridge is located between the second position meter and the third position meter, and the front surface of the double-face marking bridge is located in the field of view of the second position meter, and the back surface is located in the field of view of the third position meter.

[0010] The technical solution of the present application for solving the technical problem of the method is to provide a large-scale multi-position meter space distance measuring method based on visible light, characterized in that the method comprises the following steps:

[0011] Step 1, building the distance measuring system;

[0012] Step 2, determining the positions of the three position meters and the three marking bridges:

[0013] For the first placement mode, the display image of the first positioning instrument for the first single-face marker bridge is moved to the rightmost end of the field of view to ensure that it is within the ranging range of the system from the leftmost end of the field of view; the positions of the first single-face marker bridge and the second single-face marker bridge are respectively placed at the leftmost end and the rightmost end of the field of view of the second positioning instrument, and then the positions of the first single-face marker bridge and the second single-face marker bridge are fixed; the display image of the third positioning instrument for the second single-face marker bridge is moved to the leftmost end of the field of view to ensure that it is within the ranging range of the system from the rightmost end of the field of view;

[0014] For the second placement mode, the display image of the first positioning instrument for the first single-face marker bridge is moved to the rightmost end of the field of view to ensure that it is within the ranging range of the system from the leftmost end of the field of view; the positions of the first single-face marker bridge and the double-face marker bridge are respectively placed at the leftmost end and the rightmost end of the field of view of the second positioning instrument, and then the positions of the first single-face marker bridge and the double-face marker bridge are fixed; the display image of the third positioning instrument for the double-face marker bridge is moved to the leftmost end of the field of view to ensure that it is within the ranging range of the system from the rightmost end of the field of view;

[0015] Step 3, the positioning instrument identifies and distinguishes the marker bridge and the marker probe: after the arrangement is completed, two marker bridges appear in the field of view of the second positioning instrument in each placement mode, and an instrument fusion algorithm is used to realize the identification of each marker bridge and marker probe and the distinction between different marker bridges and marker probes;

[0016] Step 4, unify the coordinate system and convert the coordinates:

[0017] For the first placement mode, the first positioning instrument and the third positioning instrument are respectively moved to the position of the second positioning instrument, and double-bridge operations are sequentially performed to obtain the coordinate conversion matrix of the first single-face marker bridge and the second single-face marker bridge, and then the first positioning instrument and the third positioning instrument are moved to the corresponding positions of the respective placement modes in the step;

[0018] For the second placement mode, the first positioning instrument and the third positioning instrument are respectively moved to the position of the second positioning instrument, and double-bridge operations are sequentially performed to obtain the coordinate conversion matrix of the first single-face marker bridge and the double-face marker bridge; then the first positioning instrument and the third positioning instrument are moved to the corresponding positions of the respective placement modes in step 2, and a three-bridge operation is performed on the third positioning instrument to establish the coordinate conversion matrix from the reverse side of the double-face marker bridge to the front side and then to the first single-face marker bridge for the third positioning instrument;

[0019] Step 5, measuring distance in the ranging range of the system using the marking probe: the marking probe enters the field of view of any one positioner, the positioner completes the identification of the end mark of the marking probe; then the tip of the marking probe is placed on two position points which need to measure distance respectively, geometric calculation is carried out, and distance measurement is completed.

[0020] Compared with the prior art, the present application has the beneficial effects that:

[0021] (1) The present application uses multiple sets of positioners, combines the advantages of high precision of binocular camera vision distance measurement, and proposes a reasonable and effective multi-positioner cooperation scheme, so that the positioners can be combined more, the ranging range is widened compared with the traditional positioner ranging system, the environmental requirements for system arrangement are greatly reduced compared with the laser ranging system, and the test scene of different light intensity environments can be applied by adjusting the camera exposure.

[0022] (2) The ranging system of the present application only needs to move the marking probe for point taking and distance measurement, without moving the positioner system and the marking bridge, and the position of the positioner system and the marking bridge can be adjusted and fixed according to the distance measurement requirement, so that the self-defined positioning mode and the relatively fixed position system are more convenient for the tooling in various test scenes.

[0023] (3) The present application proposes a new coordinate conversion method, which unifies the coordinate information of multiple positioners on a specific marking bridge, and the related coordinate information of the marking bridge is easier to obtain, which not only widens the ranging range, but also ensures the test accuracy, and the marking bridge can be rigidly installed on the measured object or the fixture, avoiding the inaccuracy caused by accidental collision with the positioner.

[0024] (4) The software platform of the present application realizes overall development, in the interface function, the image content information and the point taking coordinate information can be directly displayed, and the three-dimensional information of the test object can also be imported for point taking prompt operation, after the marking bridge is recognized in the image, the measurement operation can be carried out, and the measurement result can be recorded and stored in real time after the measurement is completed.

[0025] (5) The algorithm of the present application is developed using C++ language, in which a threshold comparator is used to constrain the accuracy, and the points that do not meet the registration accuracy and attitude solution are removed and re-collected. The overall development uses QT for interface development, and the slot function instruction in QT is used to realize the connection communication with the selection command in the distance measurement process.

[0026] (6) The present application adopts three marking plates and one marking probe, designs a double-sided marking bridge to meet the demand of different positions of the positioner, and the marking probe is used as a distance coordinate selection marker.

[0027] (7) The present application adopts two kinds of arrangement modes according to the different depth measurement ranges. The first kind of arrangement mode is simple in operation and accurate in precision. The second kind of arrangement mode relatively widens the longitudinal measurement range. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 Fig. 1 is a schematic diagram of the first kind of arrangement mode of the multi-positioning apparatus of the present application; in the figure, the area contained by the dashed line drawn by each positioning apparatus is the measurement range of the positioning apparatus;

[0029] Figure 2 Fig. 2 is a schematic diagram of the second kind of arrangement mode of the multi-positioning apparatus of the present application; in the figure, the area contained by the dashed line drawn by each positioning apparatus is the measurement range of the positioning apparatus;

[0030] Figure 3 Fig. 3 is a schematic diagram of the first single-face marked bridge of the present application;

[0031] Figure 4 Fig. 4 is a schematic diagram of the second single-face marked bridge of the present application;

[0032] Figure 5 Fig. 5 is a schematic diagram of the double-face marked bridge of the present application;

[0033] Figure 6 Fig. 6 is a front view of the double-face marked bridge of the present application;

[0034] Figure 7 Fig. 7 is a back view of the double-face marked bridge of the present application;

[0035] Figure 8 Fig. 8 is a schematic diagram of the marking probe of the present application;

[0036] Figure 9 Fig. 9 is an interface diagram of the distance measurement software developed based on QT of the present application.

[0037] In the figure, the first positioning apparatus 1, the second positioning apparatus 2, the third positioning apparatus 3, the first single-face marked bridge 4, the second single-face marked bridge 5, the double-face marked bridge 6, the level 7, and the marking probe 8. DETAILED DESCRIPTION

[0038] The specific embodiments of the present application are given below. The specific embodiments are only used for further detailed description of the present application, and do not limit the protection scope of the present application.

[0039] The application also provides a large-scale multi-positioning-instrument space ranging system based on visible light, which is characterized in that the system comprises three positioning instruments, three marking bridging objects, a level 7, a marking probe 8 and a computer; the three positioning instruments are a first positioning instrument 1, a second positioning instrument 2 and a third positioning instrument 3; the three marking bridging objects are a first single-face marking bridging object 4, a second single-face marking bridging object 5 and a double-face marking bridging object 6;

[0040] The front surface of the first single-face marking bridging object 4 and the second single-face marking bridging object 5 is provided with at least three marks, the distance between any two marks on the same surface is different, and the back surface is not provided with marks; the front surface and the back surface of the double-face marking bridging object 6 are both provided with at least three marks, the distance between any two marks on the same surface is different; the marks on the front surface of the double-face marking bridging object 6 are the same as those on the front surface of the second single-face marking bridging object 5, and the marks on the back surface are different from those on the first single-face marking bridging object 4 and the second single-face marking bridging object 5; the end of the marking probe 8 is provided with at least three marks on the front surface, the distance between any two marks is different, and the back surface is not provided with marks; the marking probe 8 is used for measuring the distance in the ranging range of the system;

[0041] The level 7 is installed on the first single-face marking bridging object 4 to ensure that the first single-face marking bridging object 4 is vertically placed with the ground and ensure the measurement accuracy of the projection distance; the computer is installed with ranging software; the first positioning instrument 1, the second positioning instrument 2 and the third positioning instrument 3 are in communication connection with the computer through USB to transmit data and realize control; the three positioning instruments are placed at intervals, and according to the different depth measurement ranges, two placing modes are divided:

[0042] The first placing mode: the three positioning instruments are placed on the same side, and the first positioning instrument 1, the second positioning instrument 2 and the third positioning instrument 3 are sequentially arranged from left to right, and the first positioning instrument 1 and the third positioning instrument 3 have an inclination angle relative to the vertical surface; the first single-face marking bridging object 4 is located between the first positioning instrument 1 and the second positioning instrument 2 and is located in the field of view of the first positioning instrument 1 and the second positioning instrument 2; the second single-face marking bridging object 5 is located between the second positioning instrument 2 and the third positioning instrument 3 and is located in the field of view of the second positioning instrument 2 and the third positioning instrument 3;

[0043] The second arrangement mode is: the first positioning instrument 1, the second positioning instrument 2 and the third positioning instrument 3 are arranged from left to right, the first positioning instrument 1 and the second positioning instrument 2 are arranged on the same side, and the third positioning instrument 3 is arranged on the opposite side of the first positioning instrument 1 and the second positioning instrument 2, meanwhile, the third positioning instrument 3 is arranged reversely, and the first positioning instrument 1 has an inclination angle relative to the vertical plane; the first single-face marking bridge 4 is located between the first positioning instrument 1 and the second positioning instrument 2 and within the field of view range of the first positioning instrument 1 and the second positioning instrument 2; the double-face marking bridge 6 is located between the second positioning instrument 2 and the third positioning instrument 3, and the front face of the double-face marking bridge 6 is located within the field of view range of the second positioning instrument 2, and the back face is located within the field of view range of the third positioning instrument 3.

[0044] The application also provides a large-scale multi-positioning instrument space ranging method based on visible light, which is characterized by comprising the following steps:

[0045] Step 1: building a ranging system;

[0046] The ranging system comprises three positioning instruments, three marking bridges, a level 7, a marking probe 8 and a computer; the three positioning instruments are a first positioning instrument 1, a second positioning instrument 2 and a third positioning instrument 3; the three marking bridges are a first single-face marking bridge 4, a second single-face marking bridge 5 and a double-face marking bridge 6;

[0047] The front face of the first single-face marking bridge 4 and the second single-face marking bridge 5 is provided with at least three marks, the distance between any two marks on the same face is different, and the back face is not provided with marks; the front face and the back face of the double-face marking bridge 6 are both provided with at least three marks, the distance between any two marks on the same face is different; the marks on the front face of the double-face marking bridge 6 are the same as those on the front face of the second single-face marking bridge 5, and the marks on the back face are different from those on the first single-face marking bridge 4 and the second single-face marking bridge 5; the end of the marking probe 8 is provided with at least three marks on the front face, the distance between any two marks is different, and the back face is not provided with marks; the marking probe 8 is used for measuring the distance in the ranging range of the system;

[0048] The level 7 is installed on the first single-face marking bridge 4, so as to ensure the vertical arrangement of the first single-face marking bridge 4 and the ground and ensure the measurement accuracy of the projection distance; the computer is installed with ranging software; the first positioning instrument 1, the second positioning instrument 2 and the third positioning instrument 3 are in communication connection with the computer through USB, so as to transmit data and realize control; the three positioning instruments are arranged at intervals, and according to the different depth measurement ranges, two arrangement modes are divided:

[0049] The first arrangement mode: three positioners are arranged on the same side, and are sequentially the first positioner 1, the second positioner 2 and the third positioner 3 from left to right, the first positioner 1 and the third positioner 3 have an inclination angle relative to the vertical plane; the first single-face marker bridge 4 is located between the first positioner 1 and the second positioner 2 and within the field of view of the first positioner 1 and the second positioner 2; the second single-face marker bridge 5 is located between the second positioner 2 and the third positioner 3 and within the field of view of the second positioner 2 and the third positioner 3;

[0050] The second arrangement mode: sequentially the first positioner 1, the second positioner 2 and the third positioner 3 from left to right, the first positioner 1 and the second positioner 2 are arranged on the same side, and the third positioner 3 is arranged on the opposite side of the first positioner 1 and the second positioner 2, and the third positioner 3 is reversely arranged, and the first positioner 1 has an inclination angle relative to the vertical plane; the first single-face marker bridge 4 is located between the first positioner 1 and the second positioner 2 and within the field of view of the first positioner 1 and the second positioner 2; the double-face marker bridge 6 is located between the second positioner 2 and the third positioner 3, and the front face of the double-face marker bridge 6 is within the field of view of the second positioner 2, and the back face is within the field of view of the third positioner 3;

[0051] Preferably, in step 1, the first positioner 1, the second positioner 2 and the third positioner 3 are all binocular camera optical positioners.

[0052] Preferably, in step 1, the marker is a closed shape, preferably a black circular marker (with a diameter of at least 5 mm); the color selection standard of the marker and the three marker bridge bodies is that the contrast and color difference are the strongest.

[0053] Preferably, in step 1, the three positioners are all installed on tripods and are adjusted to appropriate heights; the positioners are appropriately inclined downward to ensure that the three marker bridges are completely within the field of view of the positioners.

[0054] Preferably, in step 1, in the first arrangement mode, the inclination angle of the first positioner 1 and the third positioner 3 relative to the vertical plane is 0-45°; in the second arrangement mode, the inclination angle of the first positioner 1 relative to the vertical plane is 0-45°.

[0055] Preferably, in step 1, the interface of the distance measuring software contains an area for displaying the left and right fields of view of the camera, a recognition prompt key for the three marker bridges and the marker probe 8, a switching key for switching the cameras, operation keys required during the distance measuring process, and basic keys for saving data, creating an interface, refreshing a table and exporting a table.

[0056] Preferably, in step 1, the distance measuring software is a distance measuring software developed based on QT. Figure 9In the middle, the left bridge and the hand-held device prompt key will prompt the marker bridge and the marker probe 8 to identify successfully according to the flashing, the "initialization" key to initialize the interface, the "start" key to randomly start a locator, the three "locator" keys to switch the locators, the "start bridge" key to perform double-bridge operation, the left key of "start bridge" to perform three-bridge operation, and the "exposure" and "gain" progress bars to adjust the parameters, the middle black area to be the camera field of view display area, the "capture start point", "capture end point" and "calculate distance" keys on the top right to perform distance measurement operation, and the table below to record data; the four top icons are four basic operations of saving data, creating a new interface, refreshing the table and exporting the table.

[0057] Step 2, determine the positions of the three locators and the three marker bridges:

[0058] For the first placement mode, the display image of the first locator 1 for the first single-face marker bridge 4 is moved to the rightmost end of the field of view, ensuring that the leftmost end of the field of view is included in the system's distance measurement range; the positions of the first single-face marker bridge 4 and the second single-face marker bridge 5 are respectively placed at the leftmost and rightmost ends of the field of view of the second locator 2, thereby fixing the positions of the first single-face marker bridge 4 and the second single-face marker bridge 5; the display image of the third locator 3 for the second single-face marker bridge 5 is moved to the leftmost end of the field of view, ensuring that the rightmost end of the field of view is included in the system's distance measurement range;

[0059] For the second placement mode, the display image of the first locator 1 for the first single-face marker bridge 4 is moved to the rightmost end of the field of view, ensuring that the leftmost end of the field of view is included in the system's distance measurement range; the positions of the first single-face marker bridge 4 and the double-face marker bridge 6 are respectively placed at the leftmost and rightmost ends of the field of view of the second locator 2, thereby fixing the positions of the first single-face marker bridge 4 and the double-face marker bridge 6; the display image of the third locator 3 for the double-face marker bridge 6 is moved to the leftmost end of the field of view, ensuring that the rightmost end of the field of view is included in the system's distance measurement range;

[0060] Step 3, the locators identify and distinguish the marker bridges and the marker probe 8: after the arrangement is completed, two marker bridges (i.e., the first single-face marker bridge 4 and the second single-face marker bridge 5, or the first single-face marker bridge 4 and the double-face marker bridge 6) appear in the field of view of the second locator 2 in each placement mode, and an instrument fusion algorithm is used to realize the identification of each marker bridge and the marker probe 8 and the distinction between different marker bridges and the marker probe 8;

[0061] Preferably, in step 3, the specific steps of the instrument fusion algorithm are as follows:

[0062] S31, store the center coordinates of all the markers of the three marker bridging objects and the marker probe 8 in the second position instrument 2 coordinate system as element information into the matrix P1; sequentially number the center of each marker of the marker bridging objects and the marker probe 8 respectively, and obtain the distance between adjacent numbered centers, and store the distance value as element information into the matrix P2;

[0063] Use the size information of the marker maximum closed boundary contour as a specific threshold, and use the image feature extraction algorithm to extract all the closed boundary contours in the field of view of the second position instrument 2 that meet the specific threshold range, to obtain contour points; the contour points include the corresponding contour points of all the markers of the first single-sided marker bridging object 4, the second single-sided marker bridging object 5, the double-sided marker bridging object 6 and the marker probe 8 in the field of view, and the redundant contour points generated by other stray points that meet the specific threshold range and have closed boundaries; then, through the stereo matching algorithm, the contour points are sorted and traversed, the contour points of the left and right cameras of each position instrument are fitted and discriminated, and the matching of the left and right contour points is completed one by one; then, the center coordinates of the matched contour points are stored as element information into the matrix P3, and the matched contour points are sequentially numbered, and the distance between adjacent numbered centers is obtained, and the distance value is stored as element information into the matrix P4; using the image feature extraction algorithm and the stereo matching algorithm ensures that the images of the same object in the left camera and the right camera of the binocular position instrument correctly appear in their respective fields of view, which makes good preparations for identification;

[0064] S32, use the distance information in the matrix P2 as a discrimination threshold, sequentially traverse the element information in the matrix P4, filter out the distance values less than the discrimination threshold, and then determine the corresponding contour points of the marker bridging objects and the marker probe 8 in the contour points, complete the fusion process of the markers in the real space and the corresponding contour points discriminated by the distance information, and then reconstruct the markers of each marker bridging object and the marker probe 8 by the position instrument;

[0065] S33, detect the marker probe 8 and each marker bridging object respectively, record the detection information, and perform PCA dimension reduction algorithm or ICP algorithm on the coordinate information of the markers reconstructed by each marker bridging object and the marker probe 8 and the coordinate information of the markers in the real space respectively to obtain a transformation matrix, realize the registration of the corresponding contour points, and then identify and distinguish different marker bridging objects and marker probes 8.

[0066] Preferably, in step S33, for the marker probe 8, the measurement point is selected by the contact of the tip thereof during measurement, so the tip thereof needs to be calibrated, and the specific steps are as follows:

[0067] S331, ensure that the spatial position of the tip of the marking probe 8 is relatively fixed with the first positioner 1, record the coordinate position P5 of the tip in the coordinate system of the first positioner 1, and the coordinate position of the tip of the marking probe 8 to the coordinate system of the end marker is P6;

[0068] S332, continuously rotate the marking probe 8, collect the coordinate conversion matrix of the coordinate system of the end marker of the marking probe 8 to the coordinate system of the first positioner 1 through the rotation calibration data acquisition process;

[0069] S333, differentiate and arrange the coordinate conversion matrix, and then obtain the matrix composed of the coordinate position information in P5 and P6, obtain the local coordinate position of the tip of the marking probe 8 to the end marker, and realize the identification of the positioner to the marking probe 8.

[0070] Step 4, unify the coordinate system and convert the coordinates:

[0071] For the first placement mode, the first positioner 1 and the third positioner 3 are respectively moved to the position of the second positioner 2, and the double-bridge operation is sequentially performed to obtain the coordinate conversion matrix of the first single-face marking bridge 4 and the second single-face marking bridge 5, which is stored in the distance measurement software of the computer at the same time, and then the first positioner 1 and the third positioner 3 are moved to the corresponding positions of the respective placement modes in step 2;

[0072] For the second placement mode, the first positioner 1 and the third positioner 3 are respectively moved to the position of the second positioner 2, and the double-bridge operation is sequentially performed to obtain the coordinate conversion matrix of the first single-face marking bridge 4 and the double-face marking bridge 6, which is stored in the distance measurement software of the computer at the same time; then the first positioner 1 and the third positioner 3 are moved to the corresponding positions of the respective placement modes in step 2, and the third positioner 3 is subjected to three-bridge operation to establish the coordinate conversion matrix from the reverse side of the double-face marking bridge 6 to the front side and then to the first single-face marking bridge 4 for the third positioner 3;

[0073] Preferably, after step 4 is completed, each time the system is restarted, the stored file can be directly read in the distance measurement software of the computer to obtain the coordinate conversion matrix information between the marking bridges, without the need to repeat the double-bridge operation and the three-bridge operation.

[0074] Preferably, in step 4, both the double-bridge operation and the triple-bridge operation adopt the algorithm of pose solution, and the camera and the marker bridge realize reverse pose solution, achieve the effect of reverse coordinate tracking, and further establish the attitude relationship between the three positioners. The point position information displayed in the field of view of the first positioner 1, the second positioner 2 and the third positioner 3 is unified to the coordinate system of the first single-face marker bridge 4, the conversion relationship of the point value coordinates between the three positioners is obtained, and the spatial relationship of large-scale point selection is established. The specific conversion process of pose solution is as follows:

[0075] S41, the coordinate system of the first single-face marker bridge 4 is represented as d1, the coordinate system of the second single-face marker bridge 5 and the front of the double-face marker bridge 6 are represented as d2, and the coordinate system of the back of the double-face marker bridge 6 is represented as d3; the coordinate system of the first positioner 1 is represented as m1, the coordinate system of the second positioner 2 is represented as m2, and the coordinate system of the third positioner 3 is represented as m3;

[0076] S42, the first single-face marker bridge 4 is displayed by the first positioner 1 image, and the coordinate conversion matrix is obtained The inverse is obtained, and the coordinate conversion matrix required for the display coordinate conversion of the first positioner 1 to the first single-face marker bridge 4 is obtained

[0077] The first single-face marker bridge 4 is displayed by the second positioner 2 image, and the coordinate conversion matrix is obtained The inverse is obtained, and the coordinate conversion matrix required for the display coordinate conversion of the second positioner 2 to the first single-face marker bridge 4 is obtained

[0078] For the first placement mode, the second single-face marker bridge 5 is displayed by the third positioner 3 image, and the coordinate conversion matrix is obtained And the real coordinates of the front of the double-face marker bridge 6 in the third positioner 3 coordinate system (i.e. the real coordinates of the second single-face marker bridge 5 in the third positioner 3 coordinate system), the inverse of the coordinate conversion matrix is obtained, and the coordinate conversion matrix required for the display coordinate conversion of the third positioner 3 to the second single-face marker bridge 5 is obtained The three positioner positions determined in step 2 are used, and the coordinate conversion matrix is obtained according to the coordinates of the first single-face marker bridge 4 and the second single-face marker bridge 5 in the second positioner 2 coordinate system Further, the matrix required for the display coordinate conversion of the third positioner 3 to the first single-face marker bridge 4 is obtained is:

[0079]

[0080] For the second placement, the inverse of the coordinate conversion matrix is calculated based on the image of the third positioner 3 displaying the reverse side mark of the double-side mark bridge 6 and the real coordinates of the reverse side mark of the double-side mark bridge 6 in the third positioner 3 coordinate system, to obtain the coordinate conversion matrix required for converting the display coordinates on the third positioner 3 to the reverse side mark of the double-side mark bridge 6 Since the thickness of the double-side mark bridge 6 and the real coordinates of the front side mark and the reverse side mark of the double-side mark bridge 6 in the third positioner 3 coordinate system are known values, the coordinate conversion matrix of the reverse side coordinate system of the double-side mark bridge 6 to the front side coordinate system is obtained as According to the coordinates of the first single-side mark bridge 4 and the second single-side mark bridge 5 in the second positioner 2 coordinate system, the coordinate conversion matrix is obtained as Further, the matrix required for converting the display coordinates on the third positioner 3 to the first single-side mark bridge 4 is obtained as

[0081]

[0082] At this point, all point information on the three positioners is unified to the coordinate system of the first single-side mark bridge 4, which not only avoids errors caused by the movement of the positioners during measurement, but also avoids conversion errors between the mark bridges due to relative fixation.

[0083] Step 5, measuring the distance in the distance measuring range of the system using the mark probe 8: the mark probe 8 enters the field of view of any positioner, which completes the recognition of the end mark of the mark probe 8; then the tip of the mark probe 8 is placed on two position points that need to be measured, and the capture start point, capture end point and distance calculation buttons on the distance measuring software interface are clicked respectively to perform geometric calculation and complete distance measurement.

[0084] Preferably, in step 5, while completing the recognition of the end mark of the mark probe 8, the end mark is displayed in color change in the field of view of the positioner, and the corresponding hand-held key of the mark probe 8 on the interface of the distance measuring software will change color and flash, further confirming the successful recognition.

[0085] Preferably, in step 5, the geometric calculation includes the straight-line distance, projection distance and relative coordinates between the two position points.

[0086] Preferably, in step 5, the calculation formula of the straight-line distance between the two position points is

[0087]

[0088] ​​​In formula (3), h is the straight line distance between two position points, x1 is the horizontal coordinate of the first position point, y1 is the vertical coordinate of the first position point, z1 is the vertical coordinate of the first position point, x2 is the horizontal coordinate of the second position point, y2 is the vertical coordinate of the second position point, and z2 is the vertical coordinate of the second position point.

[0089] Preferably, in step 5, the calculation formula of the projection distance between two position points is:

[0090] h c = h cos a sin theta

[0091] h k = h cos a cos theta

[0092] h g = h sin a (4)

[0093] In formula (4), h c is the distance between two position points projected onto the XOY plane and then onto the y-axis, i.e., the projection length, h k is the distance between two position points projected onto the XOY plane and then onto the x-axis, i.e., the projection width, and h g is the distance between two position points projected onto the z-axis, i.e., the projection height, a is the angle between the straight line and the XOY plane, and theta is the angle between the straight line projected onto the XOY plane and the x-axis.

[0094] Preferably, in step 5, the calculation method of the relative coordinates between two position points is to subtract the three-dimensional coordinates of the two points to obtain the three-dimensional coordinates of the end point relative to the start point.

[0095] Preferably, in step 5, the selection of position points and distance measurement operation is directly performed on the interface of the distance measurement software, and the measured distance is the straight line distance between two position points. Three distance buttons are provided for the measurement of projection distance. The projection length button is clicked first, and then the position points are selected and the distance measurement operation is performed, and the measured distance is the distance between two position points projected onto the XOY plane and then onto the y-axis. The projection width button is clicked first, and then the position points are selected and the distance measurement operation is performed, and the measured distance is the distance between two position points projected onto the XOY plane and then onto the x-axis. The projection height button is clicked first, and then the position points are selected and the distance measurement operation is performed, and the measured distance is the distance between two position points projected onto the z-axis.

[0096] Preferably, the method further comprises step 6: software development simultaneously sets initialization and storage file output functions, after measuring the straight line distance between two position points, the coordinate information of the two position points can be copied to the next row, the projection distance is directly obtained by clicking the distance key, the selection operation of different distance requirements is simplified, and the measurement data can be exported after each test, and the next test operation is performed on the initialization interface.

[0097] The unmentioned parts of the present application are applicable to the prior art.

Claims

1. A large-scale multi-locating instrument space ranging system based on visible light, characterized in that, The system comprises three positioners, three marking bridge objects, a level (7), a marking probe (8) and a computer; the three positioners are a first positioner (1), a second positioner (2) and a third positioner (3); The three marking bridge objects are a first single-face marking bridge object (4), a second single-face marking bridge object (5) and a double-face marking bridge object (6); The front surface of the first single-face marking bridge object (4) and the second single-face marking bridge object (5) is provided with at least three marks, the distance between any two marks on the same surface is different, and the back surface is not provided with marks; the front surface and the back surface of the double-face marking bridge object (6) are both provided with at least three marks, the distance between any two marks on the same surface is different; The marks on the front surface of the double-face marking bridge object (6) are the same as those on the front surface of the second single-face marking bridge object (5), and the marks on the back surface are different from those on the first single-face marking bridge object (4) and the second single-face marking bridge object (5); the end of the marking probe (8) is provided with at least three marks on the front surface, the distance between any two marks is different, and the back surface is not provided with marks; the marking probe (8) is used for measuring distance in the distance measuring range of the system; The level (7) is installed on the first single-face marking bridge object (4); the computer is installed with distance measuring software; the first positioner (1), the second positioner (2) and the third positioner (3) are in communication connection with the computer; the three positioners are placed at intervals and are divided into two kinds of placement modes: The first placement mode: the three positioners are placed on the same side, from left to right, in sequence, as the first positioner (1), the second positioner (2) and the third positioner (3), the first positioner (1) and the third positioner (3) have an inclination angle relative to the vertical plane; the first single-face marking bridge object (4) is located between the first positioner (1) and the second positioner (2) and is located in the field of view of the first positioner (1) and the second positioner (2); The second single-face marking bridge object (5) is located between the second positioner (2) and the third positioner (3) and is located in the field of view of the second positioner (2) and the third positioner (3); The second placement mode: from left to right, in sequence, as the first positioner (1), the second positioner (2) and the third positioner (3), the first positioner (1) and the second positioner (2) are placed on the same side, the third positioner (3) is placed on the opposite side of the first positioner (1) and the second positioner (2), and the third positioner (3) is reversely arranged, the first positioner (1) has an inclination angle relative to the vertical plane; the first single-face marking bridge object (4) is located between the first positioner (1) and the second positioner (2) and is located in the field of view of the first positioner (1) and the second positioner (2); The double-face marking bridge object (6) is located between the second positioner (2) and the third positioner (3), the front surface of the double-face marking bridge object (6) is located in the field of view of the second positioner (2), and the back surface is located in the field of view of the third positioner (3).

2. The ranging system of claim 1, wherein, The first positioner (1), the second positioner (2) and the third positioner (3) all adopt binocular camera optical positioners.

3. The ranging system of claim 1, wherein, The mark adopts a closed shape; the color of the mark and the color of the three mark bridge bodies are selected according to the standard that the contrast and color difference are the strongest.

4. The ranging system of claim 1, wherein, In the first arrangement mode, the inclination angle of the first positioner (1) and the third positioner (3) relative to the vertical plane is 0-45°; in the second arrangement mode, the inclination angle of the first positioner (1) relative to the vertical plane is 0-45°.

5. A large-scale multi-locating instrument space ranging method based on visible light, characterized in that, The method comprises the following steps: Step 1, building the ranging system according to any one of claims 1-4; Step 2, determining the positions of the three positioners and the three mark bridge bodies: For the first arrangement mode, the display image of the first positioner (1) for the first single-face mark bridge body (4) is moved to the rightmost end of the field of view, ensuring that the field of view from the leftmost end is included in the ranging range of the system; the positions of the first single-face mark bridge body (4) and the second single-face mark bridge body (5) are respectively arranged at the leftmost end and the rightmost end of the field of view of the second positioner (2), and then the positions of the first single-face mark bridge body (4) and the second single-face mark bridge body (5) are fixed; the display image of the third positioner (3) for the second single-face mark bridge body (5) is moved to the leftmost end of the field of view, ensuring that the field of view from the rightmost end is included in the ranging range of the system; For the second arrangement mode, the display image of the first positioner (1) for the first single-face mark bridge body (4) is moved to the rightmost end of the field of view, ensuring that the field of view from the leftmost end is included in the ranging range of the system; the positions of the first single-face mark bridge body (4) and the double-face mark bridge body (6) are respectively arranged at the leftmost end and the rightmost end of the field of view of the second positioner (2), and then the positions of the first single-face mark bridge body (4) and the double-face mark bridge body (6) are fixed; the display image of the third positioner (3) for the double-face mark bridge body (6) is moved to the leftmost end of the field of view, ensuring that the field of view from the rightmost end is included in the ranging range of the system; Step 3, the positioner identifies and distinguishes the mark bridge body and the mark probe (8): after the arrangement is completed, two mark bridge bodies appear in the field of view of the second positioner 2 in each arrangement mode, and an instrument fusion algorithm is used to realize the identification of each mark bridge body and the mark probe (8) and the distinction of different mark bridge bodies and mark probes (8); Step 4, unifying the coordinate system and converting the coordinates: For the first arrangement mode, the first positioner (1) and the third positioner (3) are respectively moved to the positions of the second positioner (2), and double-bridge operations are sequentially performed to obtain the coordinate conversion matrix of the first single-face mark bridge body (4) and the second single-face mark bridge body (5), and then the first positioner (1) and the third positioner (3) are moved to the corresponding positions in the respective arrangement modes in step 2; For the second arrangement mode, the first positioner (1) and the third positioner (3) are respectively moved to the positions of the second positioner (2), and double-bridge operations are sequentially performed to obtain the coordinate conversion matrix of the first single-face mark bridge body (4) and the double-face mark bridge body (6), and then the first positioner (1) and the third positioner (3) are moved to the corresponding positions in the respective arrangement modes in step 2; For the second placement, the first positioner (1) and the third positioner (3) are moved to the positions of the second positioner (2) respectively, and the double-bridge operation is sequentially performed to obtain the coordinate conversion matrix of the first single-face marker bridge (4) and the double-face marker bridge (6); then the first positioner (1) and the third positioner (3) are moved to the corresponding positions of the respective placement in step 2, and the three-bridge operation is performed on the third positioner (3) to establish the coordinate conversion matrix from the reverse side of the double-face marker bridge (6) to the front side and then to the first single-face marker bridge (4) for the third positioner (3); Step 5, measure the distance in the ranging range of the system using the marker probe (8): the marker probe (8) enters the field of view of any one positioner, and the positioner completes the identification of the end marker of the marker probe (8); then the tip of the marker probe (8) is placed on two position points where the distance needs to be measured, geometric calculation is performed, and distance measurement is completed.

6. The ranging method according to claim 5, wherein, In step 3, the specific steps of the instrument fusion algorithm are as follows: S31, store the center coordinates of all markers of the three marker bridges and the marker probe (8) in the real space in the coordinate system of the second positioner (2) as element information into matrix P1; sequentially number the centers of all markers of each marker bridge and the marker probe (8) respectively, and obtain the distance between adjacent numbered centers, and store the distance value as element information into matrix P2; Use the size information of the marker maximum closed boundary contour as a specific threshold, extract all closed boundary contours that meet the specific threshold range in the field of view of the second positioner (2) using an image feature extraction algorithm to obtain contour points; the contour points include the corresponding contour points of all markers of the first single-face marker bridge (4), the second single-face marker bridge (5), the double-face marker bridge (6) and the marker probe (8) in the field of view, and redundant contour points generated by other clutter points that meet the specific threshold range and have closed boundaries; then sort and traverse all contour points through a stereo matching algorithm, fit the contour points of the left and right cameras of each positioner, and complete the one-by-one matching of the left and right contour points; then store the center coordinates of the matched contour points as element information into matrix P3, and sequentially number the matched contour points and obtain the distance between adjacent numbered centers, and store the distance value as element information into matrix P4; S32, use the distance information in matrix P2 as a discrimination threshold, sequentially traverse the element information in matrix P4, filter out the distance values less than the discrimination threshold, and then determine the corresponding contour points of the marker bridges and the marker probe (8) in the contour points, complete the fusion process of the markers in the real space and the corresponding contour points discriminated by the distance information, and then reconstruct the markers of each marker bridge and the marker probe (8) in the positioner. S33, detecting each of the marker probe (8) and each of the marker bridges, recording the detection information, and performing PCA dimension reduction algorithm or ICP algorithm on the coordinate information of the markers reconstructed by each of the marker bridges and the marker probe (8) in the real space to obtain a transformation matrix, realizing registration of corresponding contour points, and further identifying and distinguishing different marker bridges and the marker probe (8).

7. The method of claim 6, wherein, In step S33, for the marker probe (8), the measurement point is selected by the contact of the tip thereof during measurement, and therefore the tip thereof needs to be calibrated, and the specific steps are as follows: S331, ensuring that the spatial position of the tip of the marker probe (8) is relatively fixed with the first position instrument (1), recording the coordinate position P5 of the tip of the marker probe (8) in the coordinate system of the first position instrument (1), and recording the coordinate position P6 of the tip of the marker probe (8) to the coordinate system of the end marker; S332, continuously rotating the marker probe (8), collecting the coordinate conversion matrix from the coordinate system of the end marker of the marker probe (8) to the coordinate system of the first position instrument (1) through the rotation calibration data acquisition process; S333, differentiating and arranging the coordinate conversion matrix, and then obtaining the matrix composed of the coordinate position information in P5 and P6, obtaining the local coordinate position of the tip of the marker probe (8) to the end marker, and realizing the identification of the position instrument to the marker probe (8).

8. The method of Claim 5, wherein, In step 4, both the double-bridge operation and the triple-bridge operation adopt the algorithm of pose solving, and the specific conversion process of pose solving is as follows: S41, the coordinate system of the first single-face marker bridge (4) is represented as d1, the coordinate system of the second single-face marker bridge (5) and the front face of the double-face marker bridge (6) are represented as d2, and the coordinate system of the back face of the double-face marker bridge (6) is represented as d3; the coordinate system of the first position instrument (1) is represented as m1, the coordinate system of the second position instrument (2) is represented as m2, and the coordinate system of the third position instrument (3) is represented as m3; S42, display the first single-sided marker bridge (4) by the first positioner (1), and obtain the coordinate conversion matrix Obtain the coordinate conversion matrix required for displaying the coordinate on the first positioner (1) to the first single-sided marker bridge (4) by inverting it The first single-sided marker bridge (4) is displayed by the second position indicator (2) to obtain a coordinate conversion matrix The coordinate conversion matrix required for displaying the coordinate conversion on the second position indicator (2) to the first single-sided marker bridge (4) is obtained by inverting the coordinate conversion matrix For the first placement, the second single-sided marker bridge (5) is displayed by the third positioner (3) image to obtain a coordinate conversion matrix and the real coordinates of the front side marker of the double-sided marker bridge (6) in the third positioner (3) coordinate system, the coordinate conversion matrix is inversed to obtain the coordinate conversion matrix required for the display coordinate conversion of the third positioner (3) to the second single-sided marker bridge (5) The three positioner positions determined in step 2 are used to obtain a coordinate conversion matrix according to the coordinates of the first single-sided marker bridge (4) and the second single-sided marker bridge (5) in the second positioner (2) coordinate system, and the matrix required for the display coordinate conversion of the third positioner (3) to the first single-sided marker bridge (4) is further obtained : For the second placement, the inverse of the coordinate conversion matrix is calculated from the image of the third position meter (3) showing the back side mark of the double-side mark bridge (6) and the real coordinates of the back side mark of the double-side mark bridge (6) in the coordinate system of the third position meter (3) The inverse of the coordinate conversion matrix is calculated from the image of the third position meter (3) showing the back side mark of the double-side mark bridge (6) and the real coordinates of the back side mark of the double-side mark bridge (6) in the coordinate system of the third position meter (3) The inverse of the coordinate conversion matrix is calculated from the image of the third position meter (3) showing the back side mark of the double-side mark bridge (6) and the real coordinates of the back side mark of the double-side mark bridge (6) in the coordinate system of the third position meter (3) The inverse of the coordinate conversion matrix is calculated from the image of the third position meter (3) showing the back side mark of the double-side mark bridge (6) and the real coordinates of the back side mark of the double-side mark bridge (6) in the coordinate system of the third position meter (3) The coordinate conversion matrix is calculated from the coordinates of the first single-side mark bridge (4) and the second single-side mark bridge (5) in the coordinate system of the second position meter (2) The matrix required for converting the display coordinates of the third position meter (3) to the first single-side mark bridge (4) is calculated as follows ​ At this point, all the point position information on the three position instruments is unified to the coordinate system of the first single-face marker bridge (4).

9. The method of Claim 5, wherein, In step 5, the geometric calculation includes the straight-line distance between two position points, the projection distance, and the relative coordinates.

10. The ranging method according to claim 9, wherein, The calculation formula of the straight-line distance between two position points is as follows: In formula (3), h is the straight-line distance between two position points, x1 is the horizontal coordinate of the first position point, y1 is the vertical coordinate of the first position point, z1 is the vertical coordinate of the first position point, x2 is the horizontal coordinate of the second position point, y2 is the vertical coordinate of the second position point, and z2 is the vertical coordinate of the second position point; The calculation formula of the projection distance between two position points is as follows: h c = h cos a sin θ h k = h cos a cos Q h g = h - sin a (4) In formula (4), h c is the distance between the two position points projected onto the y-axis after being projected onto the XOY plane, i.e., the projection length, h k is the distance between the two position points projected onto the x-axis after being projected onto the XOY plane, i.e., the projection width, h g is the distance between the two position points projected onto the z-axis, α is the angle between the space straight line and the XOY plane, and θ is the angle between the straight line projected onto the XOY plane and the x-axis. The calculation method of the relative coordinates between two position points is to subtract the three-dimensional coordinates of the two points to obtain the three-dimensional coordinates of the end point relative to the start point.

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