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CN108828554B - Coordinate transformation-based measuring method, system and device without laser drop point - Google Patents

Coordinate transformation-based measuring method, system and device without laser drop point Download PDF

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Publication number
CN108828554B
CN108828554B CN201810683233.4A CN201810683233A CN108828554B CN 108828554 B CN108828554 B CN 108828554B CN 201810683233 A CN201810683233 A CN 201810683233A CN 108828554 B CN108828554 B CN 108828554B
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laser
coordinate system
point
camera
laser beam
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CN108828554A (en
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郑敏忠
林大甲
刘兵
黄宗荣
江世松
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Jinqianmao Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4804—Auxiliary means for detecting or identifying lidar signals or the like, e.g. laser illuminators
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates

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  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Optics & Photonics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention relates to the field of measurement, in particular to a coordinate transformation-based measurement method, system and device without laser drop points. If the optical axis of the camera and the laser beam of the laser measurer are coplanar and non-coaxial, acquiring a distance measurement distance of the object to be measured on the laser beam of the laser measurer and a first distance from the central point of the optical axis of the camera to a laser beam emission point on the laser measurer; substituting the ranging distance and the first distance into an arc tangent function to calculate an angle number; and adjusting the rotation angle of the camera according to the angle number to enable the optical axis on the camera to be intersected with the laser beam on the laser measurer on the object to be measured. Under different ranges, the laser spot of the laser measurer is always positioned at the center of a video picture of the camera, and under the condition that the laser spot cannot be seen clearly, the target measurement position is locked through the center of the video picture, so that the measurement is completed, and the problem that the laser drop point position cannot be determined due to strong light, long distance and the like is solved.

Description

Coordinate transformation-based measuring method, system and device without laser drop point
The application is a divisional application with the application number of 201710353551.X, the application date of 2017, 05 and 18 months, and the name of measurement method, system and device.
Technical Field
The invention relates to the field of measurement, in particular to a coordinate transformation-based measurement method, system and device without laser drop points.
Background
Land survey and house measurement are careless and troublesome works of all departments, and the data obtained by the survey is a protected object serving as property rights and has legal effectiveness. According to the traditional measuring means, the point needs to be manually run, a tape measure or a steel tape measure is used for measurement, although the basic requirements can be met, the problems of low efficiency, poor precision, long time, difficult operation and the like exist in the aspect of long-distance measurement, such as measurement of layer height and measurement of places which are difficult to reach.
With the development of high and new technology, a laser range finder appears, and the laser range finder is particularly suitable for measuring middle-high-rise and long-distance houses with complex building structures. The instrument is simple and convenient to use (can be used for non-contact measurement), the measured data is accurate, the working efficiency is improved, the traditional method for measuring the house by using a tape measure (or a steel tape measure) is completely abandoned, the surveying error is reduced, the measuring accuracy is ensured, and the measuring result is more convincing. However, the existing laser range finder still has the aspect of improvement, for example, under the conditions that indoor light is too bright, outdoor sunlight is too strong or the distance is long, the laser points emitted by the laser range finder cannot be seen clearly, the laser points cannot be accurately positioned on a target object, and at the moment, auxiliary equipment such as a telescope and the like is needed.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the coordinate transformation-based measuring method, system and device can realize accurate focusing and accurate measurement under the condition of poor measuring environment.
In order to solve the above technical problems, a first technical solution adopted by the present invention is:
a measuring method based on coordinate transformation comprises the following steps:
if the optical axis of the camera and the laser beam of the laser measurer are coplanar and non-coaxial, acquiring a distance measuring distance of the object to be measured on the laser beam of the laser measurer and a first distance from an optical axis center point on the camera to a laser beam emitting point on the laser measurer, wherein a connecting line of the optical axis center point on the camera and the laser beam emitting point on the laser measurer is perpendicular to the laser beam of the laser measurer;
substituting the ranging distance and the first distance into an arc tangent function to calculate an angle number;
and adjusting the rotation angle of the camera according to the angle number to enable the optical axis on the camera to be intersected with the laser beam on the laser measurer on the object to be measured.
The second technical scheme adopted by the invention is as follows:
a measurement system based on coordinate transformation comprises a focusing module;
the focusing module comprises a first acquisition unit, a first calculation unit and an adjustment unit;
the first acquisition unit is used for acquiring a distance measurement distance of the object to be measured on the laser beam of the laser measurer and a first distance from an optical axis center point on the camera to a laser beam emission point on the laser measurer if the optical axis of the camera and the laser beam of the laser measurer are coplanar and non-coaxial, wherein a connecting line of the optical axis center point on the camera and the laser beam emission point on the laser measurer is vertical to the laser beam of the laser measurer;
the first calculating unit is used for substituting the ranging distance and the first distance into an arc tangent function to calculate an angle degree;
and the adjusting unit is used for adjusting the rotation angle of the camera according to the angle number so that the optical axis on the camera is intersected with the laser beam on the laser measurer on the object to be measured.
The third technical scheme adopted by the invention is as follows:
a measuring device based on coordinate transformation comprises a measuring end; the measuring end comprises a laser measurer, a camera and an angle adjuster; the connecting line of the optical axis center point on the camera and the laser beam emitting point on the laser measurer is vertical to the laser beam of the laser measurer; the angle adjuster is connected with the camera and used for adjusting the angle of the camera so that the optical axis on the camera is intersected with the laser beam on the laser measurer on the object to be measured.
The invention has the beneficial effects that:
according to the measuring method, system and device based on coordinate transformation, the geometric angle relation among the optical axis of the camera, the laser beam of the laser measurer and the first distance between the optical axis center of the camera and the laser beam of the laser measurer is established, the included angle degree formed by the optical axis of the camera and the laser beam of the laser measurer when the optical axis of the camera and the laser beam of the laser measurer are positioned on a target to be measured in an intersecting mode is obtained through calculation, the rotating angle of the camera is adjusted according to the included angle degree, accurate focusing is achieved, the laser light spots of the laser measurer are always positioned at the center of a video picture of the camera under different measuring ranges, the target measuring position is locked through the center of the video picture under the condition that the laser light spots cannot be seen, measuring is achieved, and the problem that the laser drop point position cannot be determined due to strong light.
Drawings
FIG. 1 is a flow chart of the focusing step of the coordinate transformation-based measurement method of the present invention;
FIG. 2 is a flow chart of the measurement steps of the coordinate transformation-based measurement method of the present invention;
FIG. 3 is a schematic diagram of coordinate transformation of the coordinate transformation-based measurement method of the present invention;
FIG. 4 is a schematic diagram of a coordinate transformation-based measurement system according to the present invention;
description of reference numerals:
1. a laser measurer; 2. a camera; 3. an angle adjuster.
Detailed Description
In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
Referring to fig. 1, a measurement method based on coordinate transformation provided by the present invention includes a focusing step:
if the optical axis of the camera and the laser beam of the laser measurer are coplanar and non-coaxial, acquiring a distance measurement distance L of the object to be measured on the laser beam of the laser measurer and a first distance H from the optical axis center point on the camera to the laser beam emission point on the laser measurer, wherein the connecting line of the optical axis center point on the camera and the laser beam emission point on the laser measurer is perpendicular to the laser beam of the laser measurer;
substituting the ranging distance and the first distance into an arc tangent function to calculate an angle arctan (H/L);
and adjusting the rotation angle of the camera according to the angle number to enable the optical axis on the camera to be intersected with the laser beam on the laser measurer on the object to be measured.
According to the measuring method based on coordinate transformation, the geometric angle relation among the optical axis of the camera, the laser beam of the laser measurer and the first distance between the optical axis center of the camera and the laser beam of the laser measurer is established, the included angle degree formed by the optical axis of the camera and the laser beam of the laser measurer when the optical axis of the camera and the laser beam of the laser measurer are positioned on a target to be measured in an intersecting mode is obtained through calculation, the rotating angle of the camera is adjusted according to the included angle degree, accurate focusing is achieved, the laser light spots of the laser measurer are always positioned at the center of a video picture of the camera under different measuring ranges, the target measuring position is locked through the center of the video picture under the condition that the laser light spots cannot be seen clearly, measuring is further completed, and the problem that the laser drop point position cannot be determined due to strong.
As shown in fig. 2 and fig. 3, further, the method further comprises the following measuring steps:
when the starting point of the target to be measured is located at the central point of the optical axis of the camera, executing a first focusing step to enable the optical axis on the camera to be intersected with the laser beam on the laser measurer on the starting point of the target to be measured, and acquiring a first distance from the starting point of the target to be measured to the laser beam emission point on the laser measurer;
establishing a first coordinate system of a three-dimensional space by taking a laser beam of a laser measurer as a Z coordinate axis, and obtaining a first coordinate value of the starting point of the target to be measured in the first coordinate system according to the first distance;
in this embodiment, the laser spot of the laser measuring device is positioned to the starting point P of the target to be measured by the video image center of the camera, and the laser measuring device is taken as the origin OwWith laser beam as ZwAxis, establishing a first coordinate system X in three-dimensional spacewYwZwObtaining the distance from the starting point to the laser measurer by the laser measurer
Figure BDA0001711178390000041
Length Z of1wObtaining the starting point P in the first coordinate system XwYwZwThe coordinates of (0, 0, Z) are1w) Assuming that the end point Q of the target to be measured is in the first coordinate system XwYwZwThe coordinates of2w，Y2w，Z2w)。
When the end point of the target to be measured is located at the center point of the optical axis of the camera, executing a second focusing step to enable the optical axis on the camera and the laser beam on the laser measurer to be intersected at the end point of the target to be measured, and acquiring a second distance from the end point of the target to be measured to the laser beam emitting point on the laser measurer;
establishing a second coordinate system of the three-dimensional space by taking a laser beam of the laser measurer as a Z coordinate axis, and obtaining a second coordinate value of the termination point of the target to be measured in the second coordinate system according to the second distance;
in this embodiment, the laser beam reaches the end point Q of the target to be measured after rotating by the vertical angle α and the horizontal angle β with the starting point of the target to be measured as the reference point, and the laser measurer is also used as the origin Ow', with laser beam as ZwAxis, establishing a second coordinate system X in three-dimensional spacew＇Yw＇ZwObtaining the distance of the termination point to the laser measurer by the laser measurer
Figure BDA0001711178390000042
Length Z ofrwObtaining the end point Q in the second coordinate system Xw＇Yw＇ZwThe coordinates at '('s) are (0, 0, Z)rw)。
Converting a second coordinate value of the termination point of the target to be detected in the second coordinate system into a third coordinate value in the first coordinate system according to the conversion relation between the first coordinate system and the second coordinate system; or converting a first coordinate value of the starting point of the target to be detected in the first coordinate system into a third coordinate value in the second coordinate system according to the conversion relation between the first coordinate system and the second coordinate system;
in the present embodiment, from the first coordinate system XwYwZwTo a second coordinate system Xw＇Yw＇Zw', the origin of coordinates not moving (i.e. O)wAnd Ow' coincidence) is performed only around the X-axis and around the y-axis, so that the spatial point Q is in the coordinate system XwYwZwAnd the coordinate system Xw′Yw′ZwThe transformation between' satisfies the following relationship:
Figure BDA0001711178390000051
Figure BDA0001711178390000052
Figure BDA0001711178390000053
wherein R (x, α) is a group surrounding OwXwThe transformation matrix form of α degrees of axis rotation represents that R (y, β) is around OwXwThe transformation matrix form of the shaft rotation β degrees is shown due to α, β and ZrwFor a known quantity, the spatial point Q can be calculated in the first coordinate system XwYwZwCoordinate of lower (X)2w，Y2w，Z2w)；
Figure BDA0001711178390000054
And calculating to obtain the distance between the starting point and the ending point of the target to be measured according to the first coordinate value and the third coordinate value in the first coordinate system. Or calculating the distance between the starting point and the ending point of the target to be measured according to the second coordinate value and the third coordinate value in the second coordinate system.
In the present embodiment, the distance L between the two points in space can be calculated P, Q according to the formula;
Figure BDA0001711178390000055
further, the method also comprises the following steps:
receiving an operation instruction, and executing corresponding operation; the operation instructions comprise focusing instructions and measuring instructions.
The invention also provides a measuring system based on coordinate transformation, which comprises a focusing module; the focusing module comprises a first acquisition unit, a first calculation unit and an adjustment unit;
the first acquisition unit is used for acquiring a distance measurement distance of the object to be measured on the laser beam of the laser measurer and a first distance from an optical axis center point on the camera to a laser beam emission point on the laser measurer if the optical axis of the camera and the laser beam of the laser measurer are coplanar and non-coaxial, wherein a connecting line of the optical axis center point on the camera and the laser beam emission point on the laser measurer is vertical to the laser beam of the laser measurer;
the first calculating unit is used for substituting the ranging distance and the first distance into an arc tangent function to calculate an angle degree;
and the adjusting unit is used for adjusting the rotation angle of the camera according to the angle number so that the optical axis on the camera is intersected with the laser beam on the laser measurer on the object to be measured.
According to the coordinate transformation-based measurement system, the geometric angle relation among the optical axis of the camera, the laser beam of the laser measurer and the first distance between the optical axis center of the camera and the laser beam of the laser measurer is established, the included angle degree formed by the optical axis of the camera and the laser beam of the laser measurer when the optical axis of the camera and the laser beam of the laser measurer are positioned on a target to be measured in an intersecting mode is obtained through calculation, the rotation angle of the camera is adjusted according to the included angle degree, accurate focusing is achieved, the laser spot of the laser measurer is always positioned at the center of a video picture of the camera under different measuring ranges, the target measurement position is locked through the center of the video picture under the condition that the laser spot cannot be seen clearly, measurement is further completed, and the problem that the laser drop point position cannot be determined due to strong light.
Further, the device also comprises a measuring module; the measurement module comprises a second acquisition unit, a first establishment unit, a third acquisition unit, a second establishment unit, a conversion unit and a second calculation unit;
the second obtaining unit is used for executing a first focusing step when the starting point of the target to be measured is positioned at the central point of the optical axis of the camera, so that the optical axis on the camera is intersected with the laser beam on the laser measurer on the starting point of the target to be measured, and a first distance from the starting point of the target to be measured to the laser beam emitting point on the laser measurer is obtained;
the first establishing unit is used for establishing a first coordinate system of a three-dimensional space by taking a laser beam of the laser measurer as a Z coordinate axis, and obtaining a first coordinate value of the starting point of the target to be measured in the first coordinate system according to the first distance;
the third obtaining unit is used for executing a second focusing step when the end point of the target to be measured is located at the center point of the optical axis of the camera, so that the optical axis of the camera is intersected with the laser beam on the laser measurer at the end point of the target to be measured, and a second distance from the end point of the target to be measured to the laser beam emitting point on the laser measurer is obtained;
the second establishing unit is used for establishing a second coordinate system of the three-dimensional space by taking the laser beam of the laser measurer as a Z coordinate axis and obtaining a second coordinate value of the termination point of the target to be measured in the second coordinate system according to the second distance;
the conversion unit is used for converting a second coordinate value of the termination point of the target to be detected in the second coordinate system into a third coordinate value in the first coordinate system according to the conversion relation between the first coordinate system and the second coordinate system;
and the second calculating unit is used for calculating the distance between the starting point and the ending point of the target to be measured according to the first coordinate value and the third coordinate value in the first coordinate system.
Further, the device also comprises a measuring module; the measurement module comprises a second acquisition unit, a first establishment unit, a third acquisition unit, a second establishment unit, a conversion unit and a second calculation unit;
the second obtaining unit is used for executing a first focusing step when the starting point of the target to be measured is positioned at the central point of the optical axis of the camera, so that the optical axis on the camera is intersected with the laser beam on the laser measurer on the starting point of the target to be measured, and a first distance from the starting point of the target to be measured to the laser beam emitting point on the laser measurer is obtained;
the first establishing unit is used for establishing a first coordinate system of a three-dimensional space by taking a laser beam of the laser measurer as a Z coordinate axis, and obtaining a first coordinate value of the starting point of the target to be measured in the first coordinate system according to the first distance;
the third obtaining unit is used for executing a second focusing step when the end point of the target to be measured is located at the center point of the optical axis of the camera, so that the optical axis of the camera is intersected with the laser beam on the laser measurer at the end point of the target to be measured, and a second distance from the end point of the target to be measured to the laser beam emitting point on the laser measurer is obtained;
the second establishing unit is used for establishing a second coordinate system of the three-dimensional space by taking the laser beam of the laser measurer as a Z coordinate axis and obtaining a second coordinate value of the termination point of the target to be measured in the second coordinate system according to the second distance;
the conversion unit is used for converting a first coordinate value of the starting point of the target to be measured in the first coordinate system into a third coordinate value in the second coordinate system according to the conversion relation between the first coordinate system and the second coordinate system;
and the second calculating unit is used for calculating the distance between the starting point and the ending point of the target to be measured according to the second coordinate value and the third coordinate value in the second coordinate system.
The system further comprises a receiving module, a processing module and a processing module, wherein the receiving module is used for receiving the operation instruction and executing the corresponding operation; the operation instructions comprise focusing instructions and measuring instructions.
As shown in fig. 4, the present invention further provides a measuring apparatus based on coordinate transformation, which includes a measuring end; the measuring end comprises a laser measurer 1, a camera 2 and an angle adjuster 3; the connecting line of the optical axis center point on the camera and the laser beam emitting point on the laser measurer is vertical to the laser beam of the laser measurer; the angle adjuster is connected with the camera and used for adjusting the angle of the camera so that the optical axis on the camera is intersected with the laser beam on the laser measurer on the object to be measured. The camera collects images of a target to be detected and laser spots in real time, and the size of the collected images is adjusted by zooming the video pictures through focusing.
The angle adjuster is connected with the camera and used for adjusting the angle of the camera, and the optical axis of the camera and the laser beam of the laser measurer form different geometric angle relations under different ranges, so that the laser spot on the target falls on the optical axis of the camera. The laser measurer measures the distance L from a laser spot on a target to the laser measurer, the physical distance between the camera and the laser measurer is H, and the angle adjuster only needs to adjust the angle arctan (H/L) between the optical axis of the camera and the laser beam of the laser measurer, so that the laser spot on the target can fall on the optical axis of the camera. After the calibration is completed, the remote measurement position is locked through the center of the video picture, and the center of the video picture displays the visual aiming target to assist in locking the remote measurement position.
Furthermore, the measuring end also comprises a processor, a holder and an angle sensor arranged on the holder; the camera, the laser measurer and the angle adjuster are arranged on the holder; the processor is respectively connected with the laser measurer, the camera, the holder, the angle adjuster and the angle sensor through a communication bus or a signal line;
in this embodiment, the cloud platform drives laser measurement ware and camera and rotates, detects cloud platform pivoted angle by angle sensor. The processor is respectively connected with the laser measurer, the camera, the holder, the angle adjuster and the angle sensor through a communication bus or a signal line. The processor controls the connecting devices, for example, controls the pan-tilt to rotate, acquires the pan-tilt rotation angle detected by the angle sensor, controls the camera to perform image zooming, controls the angle adjuster to adjust the angle of the camera, and controls the laser measurer to perform measurement operation.
The measuring device based on coordinate transformation also comprises a server and at least more than one terminal; and the server is respectively connected with the measuring terminal and the terminal through a network.
In a specific embodiment, the device further comprises a server and a terminal. The server is respectively connected with the measuring end and the terminal through a network. The service end provides a communication interface between the measuring end and the terminal, and the service end receives/transmits electric signals to/from the measuring end or the terminal. The terminal displays visual output to the user including video pictures, textual information of the measurement process/result, graphical information, and any combination thereof. The terminal receives the control input of the user, sends a control signal to the measuring terminal and executes target measurement.
In summary, according to the measurement method, system and device based on coordinate transformation provided by the present invention, the geometric angle relationship between the optical axis of the camera, the laser beam of the laser measurer and the first distance between the optical axis center of the camera and the laser beam of the laser measurer is established, the degree of the included angle formed by the optical axis of the camera and the laser beam of the laser measurer when the optical axis of the camera and the laser beam of the laser measurer intersect on the target to be measured is calculated, and the rotation angle of the camera is adjusted according to the degree of the included angle, so as to achieve accurate focusing.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.

Claims (6)

1. A measuring method based on coordinate transformation without laser drop points is characterized by comprising the following focusing steps:
if the optical axis of the camera and the laser beam of the laser measurer are coplanar and non-coaxial, acquiring a distance measurement distance L of the object to be measured on the laser beam of the laser measurer and a first distance H from the optical axis center point on the camera to the laser beam emission point on the laser measurer, wherein the connecting line of the optical axis center point on the camera and the laser beam emission point on the laser measurer is perpendicular to the laser beam of the laser measurer;
substituting the ranging distance and the first distance into an arc tangent function to calculate an angle arctan (H/L);
adjusting the rotation angle of the camera according to the angle number to enable the optical axis on the camera to be intersected with the laser beam on the laser measurer on the object to be measured;
the measuring method based on coordinate transformation further comprises the following measuring steps:
when the starting point of the target to be measured is located at the central point of the optical axis of the camera, executing a first focusing step to enable the optical axis on the camera to be intersected with the laser beam on the laser measurer on the starting point of the target to be measured, and acquiring a first distance from the starting point of the target to be measured to the laser beam emission point on the laser measurer;
establishing a first coordinate system of a three-dimensional space by taking a laser beam of a laser measurer as a coordinate axis, and obtaining a first coordinate value of the starting point of the target to be measured in the first coordinate system according to the first distance; the method specifically comprises the following steps: using a laser measuring device as an origin OwWith laser beam as ZwAxis, establishing a first coordinate system X in three-dimensional spacewYwZwObtaining the distance from the starting point to the laser measurer by the laser measurer
Figure FDA0002382172050000011
Length Z of1wObtaining the starting point P in the first coordinate system XwYwZwThe coordinates of (0, 0, Z) are1w)；
When the end point of the target to be measured is located at the center point of the optical axis of the camera, executing a second focusing step to enable the optical axis on the camera and the laser beam on the laser measurer to be intersected at the end point of the target to be measured, and acquiring a second distance from the end point of the target to be measured to the laser beam emitting point on the laser measurer;
establishing a second coordinate system of the three-dimensional space by taking the laser beam of the laser measurer as a coordinate axis, and obtaining a second coordinate value of the termination point of the target to be measured in the second coordinate system according to the second distance; the method specifically comprises the following steps: using a laser measuring device as an origin Ow', with laser beam as ZwAxis establishing a second coordinate system X in three dimensionsw′Yw′Zw' obtaining the distance from the end point to the laser measuring device by means of the laser measuring device
Figure FDA0002382172050000012
Length Z ofrwObtaining the end point Q in the second coordinate system Xw′Yw′ZwThe coordinates below are (0, 0, Z)rw)；
Converting a second coordinate value of the termination point of the target to be detected in the second coordinate system into a third coordinate value in the first coordinate system according to the conversion relation between the first coordinate system and the second coordinate system; or converting a first coordinate value of the starting point of the target to be detected in the first coordinate system into a fourth coordinate value in the second coordinate system according to the conversion relation between the first coordinate system and the second coordinate system; the first coordinate system is XwYwZwThe second coordinate system is Xw′Yw′Zw', origin of coordinates not moving, i.e. OwAnd Ow' coinciding, the transformation relationship between the first coordinate system and the second coordinate system is:
Figure FDA0002382172050000021
Figure FDA0002382172050000022
Figure FDA0002382172050000023
wherein R (x, α) is a group surrounding OwXwThe transformation matrix form of α degrees of axis rotation represents that R (y, β) is around OwYwA transformation matrix form representation of axis rotation β degrees;
calculating to obtain the distance between the starting point and the ending point of the target to be measured according to the first coordinate value and the third coordinate value in the first coordinate system; or calculating the distance between the starting point and the ending point of the target to be measured according to the second coordinate value and the fourth coordinate value in the second coordinate system; wherein the calculation formula is as follows:
Figure FDA0002382172050000024
2. the coordinate-transformation-based measurement method without laser drop points of claim 1, further comprising:
receiving an operation instruction, and executing corresponding operation; the operation instructions comprise focusing instructions and measuring instructions.
3. A measurement system based on coordinate transformation without laser drop points is characterized by comprising a focusing module; the focusing module comprises a first acquisition unit, a first calculation unit and an adjustment unit;
the first obtaining unit is used for obtaining a distance measuring distance L of the object to be measured on the laser beam of the laser measurer and a first distance H from an optical axis central point on the camera to a laser beam emitting point on the laser measurer if the optical axis of the camera and the laser beam of the laser measurer are coplanar and non-coaxial, and a connecting line of the optical axis central point on the camera and the laser beam emitting point on the laser measurer is perpendicular to the laser beam of the laser measurer;
the first calculating unit is used for substituting the ranging distance and the first distance into an arc tangent function to calculate an angle number arctan (H/L);
the adjusting unit is used for adjusting the rotation angle of the camera according to the angle number so that the optical axis on the camera is intersected with the laser beam on the laser measurer on the object to be measured;
the coordinate transformation-based measuring system further comprises a measuring module; the measurement module comprises a second acquisition unit, a first establishment unit, a third acquisition unit, a second establishment unit, a conversion unit and a second calculation unit;
the second obtaining unit is used for executing a first focusing step when the starting point of the target to be measured is positioned at the central point of the optical axis of the camera, so that the optical axis on the camera is intersected with the laser beam on the laser measurer on the starting point of the target to be measured, and a first distance from the starting point of the target to be measured to the laser beam emitting point on the laser measurer is obtained;
the first establishing unit is used for establishing a first coordinate system of the three-dimensional space by taking a laser beam of the laser measurer as a coordinate axis, and obtaining a first coordinate value of the starting point of the target to be measured in the first coordinate system according to the first distance; the method specifically comprises the following steps: using a laser measuring device as an origin OwWith laser beam as ZwAxis, establishing a first coordinate system X in three-dimensional spacewYwZwObtaining the distance from the starting point to the laser measurer by the laser measurer
Figure FDA0002382172050000031
Length Z of1wObtaining the starting point P in the first coordinate system XwYwZwThe coordinates of (0, 0, Z) are1w)；
The third obtaining unit is used for executing a second focusing step when the end point of the target to be measured is located at the center point of the optical axis of the camera, so that the optical axis of the camera is intersected with the laser beam on the laser measurer at the end point of the target to be measured, and a second distance from the end point of the target to be measured to the laser beam emitting point on the laser measurer is obtained;
the second establishing unit is used for establishing a second coordinate system of the three-dimensional space by taking the laser beam of the laser measurer as a coordinate axis, and obtaining a second coordinate value of the termination point of the target to be measured in the second coordinate system according to the second distance; the method specifically comprises the following steps: using a laser measuring device as an origin Ow', with laser beam as ZwAxis establishing a second coordinate system X in three dimensionsw′Yw′Zw' obtaining the distance from the end point to the laser measuring device by means of the laser measuring device
Figure FDA0002382172050000032
Mean length ZrwObtaining the end point Q in the second coordinate system Xw′Yw′ZwThe coordinates below are (0, 0, Z)rw)；
The conversion unit is used for arranging the termination point of the target to be measured on the second coordinate system according to the conversion relation between the first coordinate system and the second coordinate systemConverting the second coordinate value under the coordinate system into a third coordinate value under the first coordinate system; or converting a first coordinate value of the starting point of the target to be detected in the first coordinate system into a fourth coordinate value in the second coordinate system according to the conversion relation between the first coordinate system and the second coordinate system; the first coordinate system is XwYwZwThe second coordinate system is Xw′Yw′Zw', origin of coordinates not moving, i.e. OwAnd Ow' coinciding, the transformation relationship between the first coordinate system and the second coordinate system is:
Figure FDA0002382172050000041
Figure FDA0002382172050000042
Figure FDA0002382172050000043
wherein R (x, α) is a group surrounding OwXwThe transformation matrix form of α degrees of axis rotation represents that R (y, β) is around OwYwA transformation matrix form representation of axis rotation β degrees;
the second calculation unit is used for calculating the distance between the starting point and the ending point of the target to be measured according to the first coordinate value and the third coordinate value in the first coordinate system; or calculating the distance between the starting point and the ending point of the target to be measured according to the second coordinate value and the fourth coordinate value in the second coordinate system; wherein the calculation formula is as follows:
Figure FDA0002382172050000044
4. the coordinate-transformation-based measurement system without laser drop points of claim 3, further comprising a receiving module for receiving an operation instruction and executing a corresponding operation; the operation instructions comprise focusing instructions and measuring instructions.
5. A measuring device based on coordinate transformation without laser drop points is characterized by comprising a measuring end; the measuring end comprises a laser measurer, a camera and an angle adjuster; the connecting line of the optical axis center point on the camera and the laser beam emitting point on the laser measurer is vertical to the laser beam of the laser measurer; the angle adjuster is connected with the camera and is used for adjusting the angle of the camera so that the optical axis on the camera is intersected with the laser beam on the laser measurer on the object to be measured;
the measuring end also comprises a processor, a holder and an angle sensor arranged on the holder; the camera, the laser measurer and the angle adjuster are arranged on the holder; the processor is respectively connected with the laser measurer, the camera, the holder, the angle adjuster and the angle sensor through a communication bus or a signal line;
the processor is used for executing a first focusing step when the starting point of the target to be measured is positioned at the central point of the optical axis of the camera, so that the optical axis on the camera is intersected with the laser beam on the laser measurer on the starting point of the target to be measured, and a first distance from the starting point of the target to be measured to the emitting point of the laser beam on the laser measurer is obtained; establishing a first coordinate system of a three-dimensional space by taking a laser beam of a laser measurer as a coordinate axis, and obtaining a first coordinate value of the starting point of the target to be measured in the first coordinate system according to the first distance; the method specifically comprises the following steps: using a laser measuring device as an origin OwWith laser beam as ZwAxis, establishing a first coordinate system X in three-dimensional spacewYwZwObtaining the distance from the starting point to the laser measurer by the laser measurer
Figure FDA0002382172050000052
Length Z of1wObtaining the starting point P in the first coordinate system XwYwZwThe coordinates of (0, 0, Z) are1w)；
When the end point of the target to be measured is located at the center point of the optical axis of the camera, executing a second focusing step to enable the optical axis on the camera and the laser beam on the laser measurer to be intersected at the end point of the target to be measured, and acquiring a second distance from the end point of the target to be measured to the laser beam emitting point on the laser measurer;
establishing a second coordinate system of the three-dimensional space by taking the laser beam of the laser measurer as a coordinate axis, and obtaining a second coordinate value of the termination point of the target to be measured in the second coordinate system according to the second distance; the method specifically comprises the following steps: using a laser measuring device as an origin Ow', with laser beam as ZwAxis establishing a second coordinate system X in three dimensionsw′Yw′Zw' obtaining the distance from the end point to the laser measuring device by means of the laser measuring device
Figure FDA0002382172050000051
Length Z ofrwObtaining the end point Q in the second coordinate system Xw′Yw′ZwThe coordinates below are (0, 0, Z)rw)；
Converting a second coordinate value of the termination point of the target to be detected in the second coordinate system into a third coordinate value in the first coordinate system according to the conversion relation between the first coordinate system and the second coordinate system; or converting a first coordinate value of the starting point of the target to be detected in the first coordinate system into a fourth coordinate value in the second coordinate system according to the conversion relation between the first coordinate system and the second coordinate system; the first coordinate system is XwYwZwThe second coordinate system is Xw′Yw′Zw', origin of coordinates not moving, i.e. OwAnd Ow' coinciding, the transformation relationship between the first coordinate system and the second coordinate system is:
Figure FDA0002382172050000061
Figure FDA0002382172050000062
Figure FDA0002382172050000063
wherein R (x, α) is a group surrounding OwXwThe transformation matrix form of α degrees of axis rotation represents that R (y, β) is around OwYwA transformation matrix form representation of axis rotation β degrees;
calculating to obtain the distance between the starting point and the ending point of the target to be measured according to the first coordinate value and the third coordinate value in the first coordinate system; or calculating the distance between the starting point and the ending point of the target to be measured according to the second coordinate value and the fourth coordinate value in the second coordinate system; wherein the calculation formula is as follows:
Figure FDA0002382172050000064
wherein the focusing step comprises:
if the optical axis of the camera and the laser beam of the laser measurer are coplanar and non-coaxial, acquiring a distance measurement distance L of the object to be measured on the laser beam of the laser measurer and a first distance H from the optical axis center point on the camera to the laser beam emission point on the laser measurer, wherein the connecting line of the optical axis center point on the camera and the laser beam emission point on the laser measurer is perpendicular to the laser beam of the laser measurer;
substituting the ranging distance and the first distance into an arc tangent function to calculate an angle arctan (H/L);
and adjusting the rotation angle of the camera according to the angle number to enable the optical axis on the camera to be intersected with the laser beam on the laser measurer on the object to be measured.
6. The coordinate-transformation-based measuring device without laser drop points of claim 5, wherein the coordinate-transformation-based measuring device further comprises a server and at least one terminal; and the server is respectively connected with the measuring terminal and the terminal through a network.
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