CN105571512B - A kind of collecting vehicle information method and device blended based on depth information and visible image information - Google Patents
A kind of collecting vehicle information method and device blended based on depth information and visible image information Download PDFInfo
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- CN105571512B CN105571512B CN201510938080.XA CN201510938080A CN105571512B CN 105571512 B CN105571512 B CN 105571512B CN 201510938080 A CN201510938080 A CN 201510938080A CN 105571512 B CN105571512 B CN 105571512B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Abstract
The present invention discloses a kind of collecting vehicle information method and device blended based on depth information and visible image information, is applicable in the structure light laser of different-waveband.From laser to imaging object surface projection structure light, the laser rays that structure light intersects with imaging object is obtained by area array cameras；The visual image half-tone information of imaging object is acquired by line-scan digital camera；Calculate the three-dimensional coordinate of laser rays center line each point；The three-dimensional coordinate of each point on laser rays center line is corresponded on the collected visual image of line-scan digital camera by perspective transform, forms the four-dimensional coordinate of each point.Advantages of the present invention is：Three-dimensional information and visible image information can be acquired simultaneously, 3 dimension information have advantage in measurement of object etc., and visual gray level image has the advantages that the continuity of acquisition, present invention incorporates advantages between the two, it can be used for vehicle bottom, side or top etc., while the visible image information and depth information of collection vehicle.
Description
Technical field
The invention belongs to railroad trains to run appearance field of fault detection, and in particular to one kind is based on depth information and visually
The collecting vehicle information method and device that image information blends.
Background technology
With the fast development of China railways cause, the application that train overhaul is carried out using automatic checkout system is more and more wider
General, camera sensor is more and more applied, however camera sensor can only obtain the plane information of shooting object, can not
Obtain the depth information of object.Although and 3D harvesters in the market can collect the depth information of object, can not adopt simultaneously
Collect the plane information of object.
Invention content
It is an object of the invention to propose a kind of to adopt based on depth information and the information of vehicles that visible image information blends
Set method and device can be used for the appearance information of vehicle or other field object in the fields such as railway and acquire, can be compatible with phase
The advantage that both machine sensor and 3D harvesters acquire subject image is collected while acquiring the depth information of object
The plane information of object so that collected information is more abundant.
A kind of collecting vehicle information method and device blended based on depth information and visible image information, by following
Step is realized：
Step 1：Linear laser and line-scan digital camera are adjusted, the line-structured light plane and linear array phase for so that linear laser is projected
The imaging plane of machine is coplanar.
Step 2：By linear laser to imaging object surface projection structure light.
Step 3：The angle between the camera lens and the projection optical axis of linear laser of area array cameras is adjusted, makes area array cameras that can obtain
The laser rays for taking structure light to intersect with imaging object.
Step 5：Adjust the time for exposure of the brightness and area array cameras of linear laser so that laser rays can be in measurement range
Interior blur-free imaging；The time for exposure for adjusting line-scan digital camera simultaneously, laser rays is avoided to be imaged overexposure in line-scan digital camera.
Step 6：The visual image half-tone information (g) of imaging object is acquired by line-scan digital camera.
Step 7：Laser rays is shot by area array cameras and obtains the image for including laser rays, then binary image, extraction
Laser line profile.
Step 8：The position of center line of laser line profile is positioned, and obtains on the center line of laser rays each point in image coordinate
The coordinate fastened.
Step 9：The coordinate that each point is fastened in image coordinate on the center line of laser rays is brought into the formula of step 4, is counted
Calculate the three-dimensional coordinate (x ', y ', z ') of laser rays center line each point on the image that area array cameras obtains.
Step 10：The three-dimensional coordinate of each point on laser rays center line that step 9 obtains is corresponded into line by perspective transform
On the collected visual image of array camera, the four-dimensional coordinate (x ', y ', z ', g) of each point is formed.
Vertical line-structured light uniform plane translates imaging object, is continuously clapped imaging object surface laser line by area array cameras
It takes the photograph, to obtain the three-dimensional information and half-tone information of different location on imaging object, then obtains four-dimensional information by 10 steps,
The three-D profile of imaging object is obtained after being spliced.
The advantage of the invention is that：
1, collecting vehicle information method and device of the present invention can acquire three-dimensional information and visible image information, 3 dimension letters simultaneously
Breath has advantage in measurement of object etc., and visual gray level image has the advantages that the continuity of acquisition, present invention incorporates
Advantage between the two can be used for the visible image information and depth of vehicle bottom, side or top etc., while collection vehicle
Information.
2, in collecting vehicle information method and device of the present invention, line-scan digital camera, area array cameras sharing structure ray laser light source；
And structure light laser light source can use single light source or multiple light courcess according to demand；
3, in collecting vehicle information method and device of the present invention, different wave bands can be used in linear laser, is suitable for not
The object of same reflecting surface, and can effective guarantee Iimaging Stability；；
4, in collecting vehicle information method and device of the present invention, by area array cameras add optical filter can eliminate environment because
Influence of the element to imaging；
5, vehicle information collecting device of the present invention, it is simple in structure, there is shockproof and rain proofness, standalone module can be made.
Description of the drawings
Fig. 1 is collecting vehicle information method flow diagram of the present invention；
Fig. 2 is laser line generator, line-scan digital camera, area array cameras and testee in collecting vehicle information method of the present invention
Between position relationship schematic diagram；
Fig. 3 is vehicle information collecting device overall structure diagram of the present invention；
Fig. 4 is the connection type between linear laser, line-scan digital camera, area array cameras in vehicle information collecting device of the present invention
Schematic diagram.
1- linear laser 2- area array cameras 3- line-scan digital camera 4- imaging objects
5- projection plane 6- line-structured light plane 7- shell 8- connecting brackets
9- mounting bracket 10- area array cameras holder 11- shafts
Specific implementation mode
Invention is further described in detail below in conjunction with the accompanying drawings
The present invention is based on the collecting vehicle information methods that depth information and visible image information blend, especially by following
Step is realized：
Step 1：Adjust linear laser 1 and line-scan digital camera 3 so that the line-structured light plane 6 that linear laser 1 projects with
The imaging plane of line-scan digital camera 3 is coplanar.
Step 2：By linear laser 1 to 4 surface projection's structure light of imaging object.
Step 3：According to the size of imaging object 4, range and shooting precision setting adjust the camera lens and line of area array cameras 2
Angle between the projection optical axis of property laser 1, makes area array cameras 2 that can obtain the laser rays that structure light intersects with imaging object 4；If
4 surface of imaging object changes without height, then laser rays is straight line；If changing conversely, 4 surface of imaging object has height,
Then laser rays is curve.
Step 4：Demarcate the parameter and line-structured light plane 5 of area array cameras 2.
If projection plane xs of any point P in area array cameras 2 in line-structured light plane 6uOuyuOn subpoint be p, point p
In image coordinate system Ou(xu, yu) under homogeneous coordinates bePoint p is in 2 coordinate system O of area array camerasc(xc, yc、zc) under
Homogeneous coordinates be Pc=(xc,yc,zc,1)T, point p is in world coordinate system Ow(xw, yw, zw) under homogeneous coordinates be Pw=(xw,
yw,zw,1)T。
It can be obtained according to 2 imaging model of area array cameras as a result,：
In formula (1), ρ is proportionality coefficient, and A is the internal reference matrix of area array cameras 2, and R, t are respectively world coordinate system to face gust
The spin matrix and translation vector of 2 coordinate system of camera, M are the projection matrix of area array cameras 2.
The plane equation of line-structured light plane 6 where P points also meet simultaneously, if line-structured light plane 6 is sat in area array cameras 2
Mark system Oc(xc, yc、zc) under meet equation：
axc+byc+czc+ d=0 (2)
A, b, c in formula (2), d indicate four coefficients of the plane equation of line-structured light plane 6 respectively.
Simultaneous formula (1), formula (2) can obtain：
In world coordinate system Ow(xw, yw, zw) in, ray O is determined by 2 imaging model of area array camerascThe equation of p, by formula (2)
The plane equation for determining structure optical plane 5, as a result, by OcThe intersection point of p and structure optical plane 5 can uniquely determine point P in face battle array
Three-dimensional coordinate under 2 coordinate system of camera.
Step 5：The time for exposure for adjusting the brightness and area array cameras 2 of linear laser 1, laser line imaging overexposure is avoided,
Enable laser rays blur-free imaging in measurement range.Thus in binary image, what area array cameras 2 can be stablized extracts
Laser line profile；The time for exposure for adjusting line-scan digital camera 3 simultaneously, laser rays is avoided to be imaged overexposure in line-scan digital camera 3.
Step 6：The visual image half-tone information (g) of imaging object 4 is acquired by line-scan digital camera 3；
Step 7：Laser rays is shot by area array cameras 2 and obtains the image for including laser rays, then binary image, extraction
Laser line profile；
Step 8：Since laser rays has one fixed width, the center of laser line profile is positioned in the present invention by image procossing
Line position, and obtain the coordinate that each point is fastened in image coordinate on the center line of laser rays；
Step 9：By step 4 Chinese style (3), three of laser rays center line each point on the image that area array cameras 2 obtains are calculated
Dimension coordinate (x ', y ', z ')；
Step 10：According to the position relationship between line-scan digital camera 3 and area array cameras 2, pass through perspective transform:
PLine=Pc×M (4)
It is collected visual that the three-dimensional coordinate of each point on laser rays center line that step 9 obtains is corresponded into line-scan digital camera 3
On image (gray level image), the four-dimensional coordinate (x ', y ', z ', g) of each point is formed.In formula (4), PLineIt is laser rays in linear array
The coordinate on image that camera 3 acquires, PcFor the three-dimensional coordinate (x ', y ', z ') of each point on laser rays, M is 4x3 perspective transform squares
Battle array.
Vertical line-structured light plane 6 uniformly translates imaging object 4, is connected to 4 surface laser line of imaging object by area array cameras 2
Continuous shooting, to obtain the three-dimensional information and half-tone information of different location on imaging object 4, then obtains the four-dimension by step 9
The three-D profile of imaging object 4 can be obtained in information after being spliced.
For the above method, the present invention also proposes that a kind of vehicle blended based on depth information and visible image information is believed
Cease harvester, including linear laser 1, area array cameras 2, line-scan digital camera 3, shell 7 and connecting bracket 8；Wherein, line-scan digital camera
3 share same mounting bracket 9 with linear laser 1 is supported.Area array cameras 2 is installed on area array cameras holder 10.Installation
It is connected by L-type connecting bracket 8 between holder 9 and area array cameras holder 10, specially：7 a side of connecting bracket and mounting bracket 9
Fixed, another side passes through 10 axis junction array camera holder 10 of shaft.The lens axis and linear laser of above-mentioned area array cameras 2
The 1 coplanar A of projection optical axis, and area array cameras holder 10 is rotatable, and then realize 2 lens axis of area array cameras and linear laser
The adjusting of angle between 1 projection optical axis.
Above-mentioned mounting bracket 9 is fixedly mounted in shell 7, by shell 7 realize linear laser 1, area array cameras 2 and
The encapsulation of line-scan digital camera 3；And it is located at the mirror of linear laser 1 and area array cameras 2 towards side in the camera lens of linear laser 1
Head corresponding position is provided with opening, and is sealed by transparent glass；It is provided with out simultaneously in the camera lens corresponding position of line-scan digital camera 3
Mouthful, it is sealed again by transparent glass.
In vehicle information collecting device of the present invention, can be used different-waveband linear laser 1 (including 808nm ± 20nm,
The wave bands such as 650nm ± 20nm), it is suitable for the object of different reflecting surfaces；And (ccd, the cmos chip of area array cameras 2 can be used
Deng) and optical filter combination mode, be applicable to the more responsible scene of other light such as natural light；Meanwhile linear laser 1 can be adopted
With single light source or multiple light courcess, it is suitable for different illumination scenes.
Claims (2)
1. a kind of collecting vehicle information method blended based on depth information and visible image information, it is characterised in that：Pass through
Following step is realized：
Line-scan digital camera shares same mounting bracket with linear laser and is supported, and area array cameras is installed on area array cameras holder
On, it is connected by L-type connecting bracket between mounting bracket and area array cameras holder, specially：Connecting bracket a side and installation branch
Frame is fixed, another side by shaft axis junction array camera holder, the lens axis of above-mentioned area array cameras and linear laser
Projection optical axis is coplanar, and area array cameras holder is rotatable, and then realizes the projection of area array cameras lens axis and linear laser
The adjusting of angle of optical axis；
Above-mentioned mounting bracket is fixedly mounted inside the shell, and linear laser, area array cameras and line-scan digital camera are realized by shell
Encapsulation；And it is located at the camera lens corresponding position of linear laser and area array cameras towards side in the camera lens of linear laser
It is provided with opening, and is sealed by transparent glass；It is provided with opening in the camera lens corresponding position of line-scan digital camera simultaneously, again by saturating
Bright glass capsulation；
Step 1：Adjustment linear laser and line-scan digital camera, the line-structured light plane for making linear laser project and line-scan digital camera
Imaging plane is coplanar；
Step 2：By linear laser to imaging object surface projection structure light；
Step 3：The angle between the camera lens and the projection optical axis of linear laser of area array cameras is adjusted, makes area array cameras that can obtain knot
The laser rays that structure light intersects with imaging object；
Step 4：Establish formulaDetermine that any point P is sat in area array cameras in line-structured light plane
Three-dimensional coordinate under mark system；In formula：ρ is proportionality coefficient, and A is the internal reference matrix of area array cameras, Pc=(xc,yc,zc,1)T, it is point
P is in area array cameras coordinate system Oc(xc, yc, zc) under homogeneous coordinates；It is point p in image coordinate system Ou(xu, yu)
Under homogeneous coordinates；A, b, c, d indicate four coefficients of the plane equation of line-structured light plane respectively；
Step 5：Adjust the time for exposure of the brightness and area array cameras of linear laser so that laser rays can be clear in measurement range
Clear imaging；The time for exposure for adjusting line-scan digital camera simultaneously, laser rays is avoided to be imaged overexposure in line-scan digital camera；
Step 6：The visual image half-tone information g of imaging object is acquired by line-scan digital camera；
Step 7：Laser rays is shot by area array cameras and obtains the image for including laser rays, then binary image, extracts laser
Line profile；
Step 8：The position of center line of laser line profile is positioned, and obtains each point on the center line of laser rays and is fastened in image coordinate
Coordinate；
Step 9：The coordinate that each point is fastened in image coordinate on the center line of laser rays is brought into the formula of step 4, face is calculated
The three-dimensional coordinate (x ', y ', z ') of laser rays center line each point on the image that array camera obtains；
Step 10：The three-dimensional coordinate of each point on laser rays center line that step 9 obtains is corresponded into linear array phase by perspective transform
On the collected visual image of machine, the four-dimensional coordinate (x ', y ', z ', g) of each point is formed；
Vertical line-structured light uniform plane translates imaging object, is continuously shot to imaging object surface laser line by area array cameras,
To obtain the three-dimensional information and half-tone information of different location on imaging object, four-dimensional information then is obtained by 10 steps, into
The three-D profile of imaging object is obtained after row splicing.
2. a kind of collecting vehicle information method blended based on depth information and visible image information as described in claim 1,
It is characterized in that：The line-scan digital camera shares a linear laser with area array cameras.
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| CN109242035B (en) * | 2018-09-25 | 2019-12-24 | 北京华开领航科技有限责任公司 | Vehicle bottom fault detection device and method |
| CN109579731B (en) * | 2018-11-28 | 2019-12-24 | 华中科技大学 | Method for performing three-dimensional surface topography measurement based on image fusion |
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| CN112097684B (en) * | 2020-11-16 | 2021-05-07 | 中科元象(常州)智能装备有限公司 | Visual measurement system and method based on multi-attitude band structured light |
| CN113566733B (en) * | 2021-06-29 | 2023-11-14 | 宁波大学 | Line laser vision three-dimensional scanning device and method |
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Address after: 9th floor, No. 61 Zhichun Road, Haidian District, Beijing, 100190 Patentee after: Beijing Aerospace Shenzhou Intelligent Equipment Technology Co.,Ltd. Address before: 100080 No. 61, Haidian District, Beijing, Zhichun Road Patentee before: BEIJING CTROWELL INFRARED TECHNOLOGY Co.,Ltd. |