Heavy Equipment Camera-Prism Calibration Using SfM and Total Station
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Solution Overview
Problem
Existing methods for determining the location of a camera and optical target on a rotating body of heavy equipment, such as a hydraulic shovel, are complex and require precise initial setup, making them difficult to implement effectively.
Innovation Solution
A method involving the use of a surveying device to measure the location of an optical target and performing Structure from Motion (SfM) on images captured by a camera during rotating, straight-moving, and tilting actions of the rotating body, with bundle adjustment calculations under specific constraints to determine the relationship between the optical target and camera locations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a reflection prism and camera are arranged on a rotating body with strict location setting, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent replaces the mechanical adjustment system with a computational approach. Instead of physically adjusting and strictly setting the locations of the reflection prism and camera through complex mechanical preparation operations, the system uses image processing and coordinate transformation algorithms to automatically calculate and determine the location relationship between components during actual operation, thereby eliminating complex mechanical setup while maintaining measurement precision
Solution Approach 2:
The system performs self-calibration by utilizing the actual operational data from the camera and surveying device. The location relationship between the reflection prism and camera is automatically determined through image processing and coordinate transformation based on data collected during normal operation, without requiring external intervention or complex preparatory adjustments
2Measurement precision
If strict location setting of camera and reflection prism is performed, then measurement precision is improved, but ease of operation deteriorates
Solution Approach 1:
The patent replaces manual mechanical adjustment operations with automated computational processing. The system captures images during normal operation and automatically performs coordinate transformations to determine the location relationship between components, eliminating the need for operators to perform complex manual setup and adjustment procedures while maintaining high measurement precision
Solution Approach 2:
The system performs the location relationship determination continuously during normal operational phases (rotating, straight-moving, and tilting actions) rather than requiring a separate preliminary setup phase. This integrates the calibration process into routine operations, making the system easier to implement without sacrificing accuracy
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Facilitates easy and accurate determination of the location relationship between the camera and optical target on a rotating body of heavy equipment, reducing complexity and improving implementation efficiency.
Implementation Method 1
location of the optical target is measured by a surveying device
Implementation Method 2
SfM is performed using photographed images by the camera
Data Source
AI summary
Information on location relationship between a camera and an optical target arranged on a rotating body of a heavy equipment is obtained easily. A method for obtaining information of heavy equipment (100) including a running body (101) having moving means and a rotating body (103) which is rotatable on the running body (101) and which has reflection prism (107) and a camera (108), the method includes: a first step in which location of the reflection prism (107) is measured by a total station (300) and SfM is performed using photographed images by the camera (108) during a process of rotating action of the rotating body (103); and a second step in which the location of the reflection prism (107) is measured by the total station (300) and SfM is performed using the photographed images by the camera (108) during a process of straight-moving action of the running body (101) without rotating the rotating body (103); wherein relationship of the location of the reflection prism (107) and the location of the camera (108) on the rotating body (103) is calculated based on the location of the reflection prism (107) and the location and the orientation of the camera (108) obtained by SfM in the first step and the second step.