CN102826209A - Method for realizing stereo shooting of ship draft image by using one-armed wall-climbing robot - Google Patents
Method for realizing stereo shooting of ship draft image by using one-armed wall-climbing robot Download PDFInfo
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- CN102826209A CN102826209A CN2012102763107A CN201210276310A CN102826209A CN 102826209 A CN102826209 A CN 102826209A CN 2012102763107 A CN2012102763107 A CN 2012102763107A CN 201210276310 A CN201210276310 A CN 201210276310A CN 102826209 A CN102826209 A CN 102826209A
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Abstract
The invention provides a method for realizing stereo shooting of a ship draft image by using a one-armed wall-climbing robot. The method comprises the following steps: detection of the robot; determination of shooting; control of robot motion; discovery of characters of a water gauge; histogram detection; edge detection; recording of stereo image pairs; and storing of data. The method of shooting with the assistance of the one-armed wall-climbing robot has simple operation and good controllability, is hardly influenced by external environmental factors and can obtain images of ship draft at different viewing angles, reduce influences of human factors on subsequent image processing and overcome influences of objective factors like the shape of the ship on detection results.
Description
Technical field
The present invention provides a kind of method that realizes boats and ships water gauge image stereoscopic shooting with the single armed climbing robot.
Background technology
In deadweight of vessel and correlation behavior parameter metering process, the water gauge measurement is a very crucial step.Along with image processing techniques is applied in the drauht automatic detection system, obtains real boats and ships water gauge image and just seem particularly important.At first must collect special quality boats and ships water gauge image, just possibly adopt image processing techniques to carry out precision and detect, this has important significance for theories and using value for the measuring accuracy that improves water gauge.
The collection of boats and ships water gauge image at present mainly is that side obtains boats and ships one side water gauge image at the harbour of boats and ships with image collecting device, is the opposite side water gauge image of carrier acquisition boats and ships with the canoe in the seawater side of boats and ships.Because tested boats and ships and measure the influence that has all received wave with boats and ships will reduce the water gauge image's authenticity, also influence follow-up result of a measurement simultaneously.
Consider the particularity of gathering the water gauge image, can gather boats and ships water gauge image with the carrier of the artificial image collecting device of single armed wall-climbing device.
Present existing image processing process all highlighted the detection of waterline and processing of inverted image details or the like, ignored shipform to numerical character torsional deflection in the influence of imaging and the two-dimensional imaging that brings thus to the influence of survey precision.Become the research focus of domestic and international association area along with plane picture three-dimensional technology; Boats and ships water gauge stereoscopic shooting method capable of using reduces the influence of factor such as shipform to accuracy of detection, but the scene two dimensional image that how to obtain to help the plane picture three-dimensional has just become the difficult problem of boats and ships water gauge image three-dimensional process.The method of obtaining the scene two dimensional image now mainly contains: two big types of two-shipper method and unit methods.The two-shipper method is that two cameras are placed on the same horizon, the 6.5cm of being separated by, and exposure simultaneously just can; The unit method is the method for on the same horizon of certain distance, clapping two or more times in succession with a camera.These two kinds of methods all are based on the scene image that the binocular parallax principle obtains different angles.Because what boats and ships water gauge camera system was taken is static big visual field,, adopt the unit method to realize the collection of boats and ships water gauge two dimensional image based on cost-cutting and easy to use.
Yet in the prior art, no matter adopting the unit method still is the two-shipper method, and all comparatively complicated in the operation, controllability is relatively poor, receives the influence of external environment factor easily, also is not easy accurately to obtain the image of boats and ships water gauge different visual angles.
Especially, in the prior art, in the process that boats and ships water gauge image is gathered; The harbour side is gathered the different of environment with the seawater side; Use existing acquisition method to receive the external environment factor affecting bigger, the picture quality level of acquisition differs, and can only carry out qualitative analysis.
Summary of the invention
The present invention provides a kind of method with single armed climbing robot realization boats and ships water gauge image stereoscopic shooting, is intended to overcome the defective that exists in the prior art mentioned above.
Particularly; The present invention provides a kind of method with single armed climbing robot realization boats and ships water gauge image stereoscopic shooting, and robot body can move along the boats and ships outside face attached on the boats and ships outside face; Stretch out a robots arm from robot body; This robots arm is fixed with pick up camera on its free end, by pick up camera the boats and ships water gauge is carried out stereoscopic shooting, and said method comprises the steps: the machine person detection step: robot is carried out the inspection of initial condition; Step is confirmed in shooting: the relevant camera parameter of confirming pick up camera; Robot motion's controlled step: robot is moved at the boats and ships outside face through the operating terminal telerobot; Step found in the water gauge character: move at the boats and ships outside face through robot, make the water gauge character be arranged in the photographic images of pick up camera; Histogram detects step: the pick up camera photographic images is carried out histogram detect, confirm whether contain water surface zone in the image, this moment, the robot automatic compensation was arranged in image until water surface zone; Edge detecting step: photographic images is carried out rim detection,, make captured water surface zone account for the proper proportion of photographic images to obtain normalized water gauge image; Stereo-picture is to recording step: in the lip-deep position of boats and ships, it is right that the parallel motion robot records comprises the one or more stereo-picture of photographic images of water gauge character according to the water gauge character; Data storage step: the right corresponding data of said one or more stereo-picture is stored, thereby the two-dimensional scene image is provided for the image three-dimensional.
Preferably, said machine person detection step comprises: confirm whether robotary is good, guarantee can not cause because of the undesirable substance of boats and ships outside face the robot adsorption power to reduce.
Preferably, said shooting confirms that step comprises: confirm and adjustment robots arm length, pick up camera vertical angle of view, pick up camera vertical visual field height.
Preferably, find to adopt a display panel communication link to be connected to pick up camera in the step, the pick up camera photographic images is presented in this display panel, so that corresponding adjustment photographic images at said water gauge character.
Preferably, find in the step that the adjustment image makes the water gauge character be positioned at the midway location of photographic images at said water gauge character.
More preferably, detect in the step at histogram, robot is taken action at the boats and ships outside face; Obtain the field range of pick up camera in real time; When occurring the water gauge character in the display panel,, make the water gauge character be positioned at the correct position on the vertical direction of photographic images through artificial adjustment robot.
Preferably; In histogram detects step,, be illustrated in and only present the boats and ships surface in the camera coverage scope if the histogram that is obtained by photographic images shows to have only a peak value; Then adjusting robot moves vertically downward; During this moves, carry out a histogram at regular intervals and detect, two peak values appear in the testing result that on histogram, shows, confirm that then photographic images had both presented the boats and ships surface and also presented water surface zone.
Preferably, said edge detecting step realizes through SUSAN operator or small echo zero passage detection.
Preferably, stereo-picture to recording step in, at first note the left view of photographic images; Subsequently under the situation of camera angle parameter constant; Adjustment robot direction parallel motion certain distance to the right, this moment the records photographing image right elevation, thereby it is right to obtain stereo-picture.
Above-mentioned single armed climbing robot image pickup method of the present invention is simple to operate, controllability good, receive the external environment factor affecting little; Can accurately obtain the method for boats and ships water gauge different visual angles image; The influence that human element is handled successive image can be reduced, of the influence of objective factor such as shipform can be solved testing result.
Description of drawings
Fig. 1 illustrates the structural representation according to the image collecting device of one embodiment of the invention;
Fig. 2 illustrates according to a kind of diagram of circuit of realizing the method for boats and ships water gauge image stereoscopic shooting with the single armed climbing robot of the present invention;
Fig. 3 and 4 shows two kinds of histograms that show according to the embodiment of the invention;
Fig. 5 a and 5b are illustrated in the photographic images shown in the rim detection front and back.
The specific embodiment
Hereinafter, identical Reference numeral refers to components identical.
The present invention considers to adopt the single armed climbing robot to realize boats and ships water gauge image stereoscopic shooting as the carrier of camera system.
Fig. 1 illustrates the structural representation according to the image collecting device of one embodiment of the invention.As shown in Figure 1, robot body 1 can move along boats and ships outside face 3 attached on the boats and ships outside face 3.Stretch out a robots arm 4 from robot body 1, this robots arm 4 is fixed with pick up camera 2 on its free end, carries out stereoscopic shooting by 2 pairs of boats and ships water gauges of pick up camera.
Preferably, robots arm's 4 extension elongations can be 1 meter, and angulation can be 53.13 ° between robots arm 4 and the robot body 1.Pick up camera can adopt 1/2 " CCD, 1628 * 1236 camera, the camera lens of 5 millimeters focal lengths, the vertical angle of view of this pick up camera is 51.2 °.Can adjust pick up camera, make 4 one-tenth suitable angles of camera optical axis 5 and robots arm, for example 71.8 °.As adopting as above illustrative data, the visual field vertical dimension that can calculate pick up camera is about 1.5 meters.According to the different camera systems of pick up camera, can confirm above-mentioned angle parameter again.Adopt said structure, through reasonable adjusting, just ready for obtaining normalized water gauge image.
Fig. 2 illustrates according to a kind of diagram of circuit of realizing the method for boats and ships water gauge image stereoscopic shooting with the single armed climbing robot of the present invention.This method utilizes the artificial carrier of single armed wall-climbing device with the three-dimensional outdoor scene of parallel stereo camera shooting pattern simulation human visual perception, and priority separated by a distance in the horizontal direction writes down the left and right sides view of outdoor scene respectively.Said method comprises the steps:
Machine person detection step 100
As shown in Figure 1, in detecting step 100, carry out robotary and detect.In this step; Robot is carried out the inspection of initial condition; For example; Confirm whether robotary is good, other undesirable substances of guaranteeing can not grade because of dust, the salt of boats and ships outside face cause the robot adsorption power to reduce, thereby avoid the defective of robot self and in the hole in the subsequent operation process.
As shown in Figure 1, after detecting step 100, get into shooting and confirm step 101, confirm the relevant camera parameter of pick up camera.Said when introducing the robot architecture like preceding text, confirm and adjustment robots arm length, pick up camera vertical angle of view, pick up camera vertical visual field height.It should be noted that; Single armed climbing robot robots arm and camera optical axis and robot body in obtaining the process of norm image have a certain degree respectively; For the ease of the image three-dimensional, pick up camera can not change the size of above-mentioned angle in the robot movement process.
Robot motion's controlled step 102
, shooting gets into robot motion's controlled step 102 after confirming step 101.In this step, robot is moved at the boats and ships outside face through the operating terminal telerobot.
Through the operating terminal telerobot robot is moved at the boats and ships outside face, so that the water gauge character is arranged in the pick up camera photographic images, preferably, the adjustment image makes the water gauge character roughly be positioned at the midway location of image.For example, can adopt a display panel communication link to be connected to pick up camera, the pick up camera photographic images is presented in this display panel, so that operating personal adjusts accordingly photographic images.
Histogram detects step 104
The pick up camera photographic images is carried out histogram detect, confirm whether contain water surface zone in the image, this moment, robot can be arranged in image until water surface zone by automatic compensation.
Preferably, robot obtains the field range of pick up camera in real time in the action of boats and ships outside face; When occurring the water gauge character in the display panel; Through artificial adjustment robot, make the water gauge character be positioned at the correct position (for example, midway location) on the vertical direction of photographic images as far as possible.Above-mentioned adjustment is carried out statistics with histogram to image after accomplishing.Fig. 3 shows a kind of histogram that shows according to the embodiment of the invention.As shown in Figure 3, histogram shows to have only a peak value, and this is illustrated in and only presents the boats and ships surface in the camera coverage scope, and does not present water surface zone.The whole robot of an enterprising step moves vertically downward on histogrammic basis shown in Figure 3; (for example 10 seconds) carry out histogram and detect at regular intervals during this moves; Two peak values as shown in Figure 4 appear in the testing result that on histogram, shows, confirm that then photographic images had both presented boats and ships surface (demonstrating the water gauge character especially) and also presented water surface zone.
, histogram gets into edge detecting step 105 after detecting step 104.Rim detection for example can realize through SUSAN operator or small echo zero passage detection.Photographic images is carried out rim detection,, make captured water surface zone account for the proper proportion (for example 1/3) of photographic images to obtain normalized water gauge image.Normalized photographic images can effectively reduce the difficulty of the water gauge image detection of carrying out subsequently.
Photographic images shown in Fig. 5 a is illustrated in before the rim detection.The boats and ships surface that has water surface zone among Fig. 5 a and comprise the water gauge character.Yet shown in Fig. 5 a, the water surface zone of this moment shared ratio in photographic images is lower, need adjust for this reason.Photographic images shown in after Fig. 5 b demonstrates and detects on the edge of.Shown in Fig. 5 b, the ratio that water surface zone occupies in photographic images obviously uprises.
Preferably, can judge whether photographic images standardizes through the line number that definite waterline region roughly is arranged in photographic images.For example; Photographic images is carried out the waterline rim detection and confirms that the waterline region roughly is arranged in the line number of image; When waterline is positioned at 824 row up and down during the zone of 20 row, this moment pick up camera the right visual field be that 1.5 meters high water gauge is regional, be normalized photographic images.
Stereo-picture is to recording step 106
Subsequently, in the lip-deep position of boats and ships, it is right that the parallel motion robot records comprises the stereo-picture of photographic images of water gauge character, for example left and right sides view according to the water gauge character.Can write down left view earlier and write down right elevation again, also can write down right elevation earlier and write down left view again.
For example, at first note the left view of photographic images, under the situation of camera angle parameter constant, right in order to obtain stereo-picture subsequently, the adjustment robot is direction parallel motion certain distance (for example, 0.4 meter) to the right, at this moment the right elevation of records photographing image.
Preferably, in order to make follow-up three-dimensional reconstruction more accurate, it is right robot to be write down several water gauge stereo-pictures symmetrically in the process of parallel motion.
Using after robot realized the stereoscopic shooting to boats and ships water gauge image, the right corresponding data of above-mentioned one or more stereo-picture is stored, thereby the two-dimensional scene image is provided for the image three-dimensional.
Of above-mentioned each step, detect and rim detection through simple histogram, can make camera system obtain normalized water gauge image, can reduce the complexity that successive image is handled; Utilize the carrier of the artificial camera system of single armed wall-climbing device; Can accurately obtain the image of the outer water gauge of boats and ships really; Also can solve in image acquisition process the difficulty that influences picture quality because of human element; And the parameter of camera system can accurately be calculated, for the three-dimensional of water gauge image is laid a good foundation.
In sum; Because the gatherer process of image, shipform reach the result who the torsional deflection of water gauge character is directly influenced the water gauge metering; Therefore can to realize effectively that according to single armed climbing robot of the present invention boats and ships water gauge image stereoscopic shooting method obtains the stereo-picture of image right through adopting, so that next step carries out three-dimensional.
Particularly, utilize climbing robot to move, unified the collection environment, and it is less to be affected by the external environment, also can not disturb because of human element increases on the boats and ships surface.In addition, utilize the single armed climbing robot to guarantee that three-dimensional imaging is consistent to the camera system parameter that is adopted, obtain normalized boats and ships water gauge image therefrom.And, utilize the histogram of image to detect the area of visual field that makes robot adjustment camera system with the result of rim detection, reduced the complexity that successive image is handled.Further, realize that with the single armed climbing robot operating process of boats and ships water gauge stereoscopic imaging method is simple, realize that easily parameter is directly perceived, help follow-up three-dimensional and image processing, analyze and understand.
Especially, it is right that said method of the present invention can obtain the stereo-picture of boats and ships water gauge exactly.Utilize the carrier of single armed climbing robot as camera system; Guaranteed the self-balancing performance of pick up camera; What focusing performance, zoom performance, geometric distortion, gain control, aperture were controlled, convergence is controlled and parallax control is all very accurate is consistent; The inner parameter of camera system can be confirmed through accurate Calculation; And because the motion of robot is simple parallel motion, so the kinematic parameter of camera system also can confirm, helps realizing the image three-dimensional with plane picture three-dimensional technology.
Those skilled in the art will also be appreciated that protection scope of the present invention is not limited in the foregoing description, and all fall within the scope of the invention to equivalents of the present invention.
Claims (9)
1. method that realizes boats and ships water gauge image stereoscopic shooting with the single armed climbing robot; It is characterized in that robot body can move along the boats and ships outside face attached on the boats and ships outside face; Stretch out a robots arm from robot body; This robots arm is fixed with pick up camera on its free end, by pick up camera the boats and ships water gauge is carried out stereoscopic shooting, and said method comprises the steps:
Machine person detection step: robot is carried out the inspection of initial condition;
Step is confirmed in shooting: the relevant camera parameter of confirming pick up camera;
Robot motion's controlled step: robot is moved at the boats and ships outside face through the operating terminal telerobot;
Step found in the water gauge character: move at the boats and ships outside face through robot, make the water gauge character be arranged in the photographic images of pick up camera;
Histogram detects step: the pick up camera photographic images is carried out histogram detect, confirm whether contain water surface zone in the image, this moment, the robot automatic compensation was arranged in image until water surface zone;
Edge detecting step: photographic images is carried out rim detection,, make captured water surface zone account for the proper proportion of photographic images to obtain normalized water gauge image;
Stereo-picture is to recording step: in the lip-deep position of boats and ships, it is right that the parallel motion robot records comprises the one or more stereo-picture of photographic images of water gauge character according to the water gauge character;
Data storage step: the right corresponding data of said one or more stereo-picture is stored, thereby the two-dimensional scene image is provided for the image three-dimensional.
2. method according to claim 1 is characterized in that, said machine person detection step comprises: confirm whether robotary is good, guarantee can not cause because of the undesirable substance of boats and ships outside face the robot adsorption power to reduce.
3. method according to claim 1 is characterized in that, said shooting confirms that step comprises: confirm and adjustment robots arm length, pick up camera vertical angle of view, pick up camera vertical visual field height.
4. method according to claim 1 is characterized in that, finds to adopt a display panel communication link to be connected to pick up camera in the step at said water gauge character, the pick up camera photographic images is presented in this display panel, so that corresponding adjustment photographic images.
5. method according to claim 1 is characterized in that, finds in the step at said water gauge character, and the adjustment image makes the water gauge character be positioned at the midway location of photographic images.
6. method according to claim 4; It is characterized in that detect in the step at histogram, robot is taken action at the boats and ships outside face; Obtain the field range of pick up camera in real time; When occurring the water gauge character in the display panel,, make the water gauge character be positioned at the correct position on the vertical direction of photographic images through artificial adjustment robot.
7. method according to claim 1 is characterized in that, detects in the step at histogram; If the histogram that is obtained by photographic images shows to have only a peak value; Be illustrated in and only present the boats and ships surface in the camera coverage scope, then adjust robot and move vertically downward, during this moves, carry out a histogram at regular intervals and detect; Two peak values appear in the testing result that on histogram, shows, confirm that then photographic images had both presented the boats and ships surface and also presented water surface zone.
8. method according to claim 1 is characterized in that, said edge detecting step realizes through SUSAN operator or small echo zero passage detection.
9. method according to claim 1; It is characterized in that, stereo-picture to recording step in, at first note the left view of photographic images; Subsequently under the situation of camera angle parameter constant; Adjustment robot direction parallel motion certain distance to the right, this moment the records photographing image right elevation, thereby it is right to obtain stereo-picture.
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| CN111591403A (en) * | 2020-04-10 | 2020-08-28 | 华电电力科学研究院有限公司 | Ship shore side water gauge image acquisition system and method based on telescopic rail hanging robot |
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