CN103884273A - Multi-view spatial movement flexible body instantaneous position and profile measurement device - Google Patents

Abstract

The invention discloses a multi-view spatial movement flexible body instantaneous position and profile measurement device comprising at least more than two photoelectric angle measurement mechanisms, video cameras, an image acquisition card and a computer. The photoelectric angle measurement mechanisms are arranged on a fixed point, the video cameras are installed on aiming telescopes of the photoelectric angle measurement mechanisms, and the optical axis center of each video camera is enabled to be consistent with the optical axis center of each photoelectric angle measurement mechanism. A lens of each video camera is aligned with the pre-estimated target height and fixed. When an air target moves, the whole movement process is recorded and the measured mechanical angle values at the time are recorded. Multi-camera intersection measurement is performed by the photoelectric angle measurement mechanisms, and accurate coordinates of all image elements of the air target are calculated. The target is converted into image signals via multiple video cameras or other image shooting devices, and the image signals are acquired by the image acquisition card and then converted into digital signals to be transmitted to the computer which then transmits the digital signals to a special image processing system. Characteristics of the target are extracted via various operations according to pixel distribution, brightness, color and other information, and judgment results are outputted according to the preset tolerance and other conditions.

Description

Various visual angles spatial movement flexible body instantaneous position and profile measurement mechanism

Technical field

The present invention relates to field of measuring technique, be specifically related to a kind of various visual angles spatial movement flexible body instantaneous position and profile measurement mechanism.

Background technology

Our measuring method was to carry out with the form of mark post and range estimation completely in the past, had low precision, and efficiency is low, dangerous, operate difficult problem.Simultaneously, for another involved important safety index of the larger lift-off series products of danger coefficient-highly, how to measure accurately its value, also there is no the measuring method of science at present.

Summary of the invention

Technical matters to be solved by this invention is to provide a kind of measuring error little, high, the safe easy-operating various visual angles spatial movement flexible body instantaneous position of efficiency and profile measurement mechanism.

Technical matters to be solved by this invention realizes by the following technical solutions:

A kind of various visual angles spatial movement flexible body instantaneous position and profile measurement mechanism, it is made up of hardware and software part, and hardware components forms by overlapping photoeletric measuring system (angle measurement mechanism, ccd video camera), image pick-up card, computing machine, wired (wireless) communication and annex more; Software section is made up of measurement model, image collection module, target background extraction module, object edge detection and location module and target trajectory determination module.

This device is on multiple point of fixity, to set up photoeletric measuring system (it is by photoelectricity angle measurement mechanism, ccd video camera being installed, and make the optical axis center of ccd video camera consistent with the optical axis center of photoelectricity angle measurement mechanism, camera lens is aimed to the height of the aerial target of pre-estimating and fixed the luffing angle value when recording whole aerial target motion process image and record cloth station in the time that aerial target occurring; Utilize ccd video camera to adopt bat to the target in high-speed motion, then utilize computer technology and image to process knowledge to the image graphic fractional analysis processing gathering, obtain useful character pixel information.This device uses photoelectricity angle measurement mechanism to carry out the measurement that crosses of multi-angle high-speed camera, calculate the accurate coordinates of the edge contour of aerial target, and then can obtain center and the physical dimension of aerial flexible body target transient state, this method is higher to spatial movement flexible body transient state profile non-cpntact measurement precision, more for convenience.

First this device converts target to picture signal by ccd video camera or other image capturing device, then be transformed into digitized signal and send special image processing system to, according to information such as pixel distribution, brightness and colors, carry out various computings and carry out the feature of extracting objects, according to default permission and other output with conditions judged results.The present invention has the advantages such as measurement is easy, simple and clear, measurement result data science is reliable.

This device is applicable to instantaneous centre position or the profile of free-moving rigidity aloft or flexible body target and measures, and the center or the profile that can be used for the targets such as aloft bullet, smog, balloon, dirigible, levitation fireworks, kite, aircraft are measured.

This device can more flexibly, more independently adapt to residing measurement environment, to meet such as needs growing in space flight, military affairs, commercial production, for example, the military field of needs in space flight and to(for) locally autonomous, in flexible production model for the needs of automatic location and assembling, in microelectronics industry for microstructural detection and precision machined need etc.

The invention has the beneficial effects as follows:

1, the present invention adopt orthogonal cloth station cross measure method, thereby the height of aerial target is realized to Quick Measurement, easy to operate, measuring accuracy is high, greatly reduces the error causing because of artificial origin.

2, by utilizing high speed CCD camera to adopt bat to the order shelves motion in high-speed motion, then utilize computer technology and image to process knowledge the picture gathering is analyzed and researched, obtain useful information enlightenment.

Brief description of the drawings

Fig. 1 is square frame principle schematic diagram of the present invention;

Fig. 2 is intersection measuring principle figure of the present invention;

Fig. 3 is the operational flowchart that CCD of the present invention measures;

Fig. 4 is the coordinate system of photographic images of the present invention;

Fig. 5 is imaging schematic diagram of the present invention;

Fig. 6 is the instantaneous profile measuring principle of the present invention's various visual angles spatial movement flexible body figure.

Embodiment

For technological means, creation characteristic that the present invention is realized, reach object and effect is easy to understand, below in conjunction with concrete diagram, further set forth the present invention.

Referring to Fig. 1, Fig. 6, a kind of various visual angles spatial movement flexible body instantaneous position and profile measurement mechanism, comprise at least plural photoelectricity angle measurement mechanism, video camera, image pick-up card, computing machine, on a point of fixity, set up described photoelectricity angle measurement mechanism, and on the finder telescope of described photoelectricity angle measurement mechanism, video camera is installed, and the optical axis center that makes described video camera is consistent with the optical axis center of described photoelectricity angle measurement mechanism, the object height that the alignment lens of described video camera is pre-estimated is also fixing, in the time that moving, aerial target records whole motion process record measurement mechanical angle value at that time, described photoelectricity angle measurement mechanism carries out the multiple-camera measurement that crosses, calculate the accurate coordinates of all pixels of aerial target, convert target to picture signal by multiple-camera or other image capturing device, through image pick-up card collection, then be transformed into digitized signal and send computing machine to, computing machine sends special image processing system again to, according to pixel distribution, the information such as brightness and color, carry out various computings and carry out the feature of extracting objects, according to default permission and other output with conditions judged results.Because multiple-camera precision is high, system complex, only crossing to measure from the simplest two CCD measurements is below introduced.

One, the arrangement of video camera

As shown in Figure 3, first judge the position of two ccd video cameras in orthogonal cloth station according to the height of actual measurement, determine the distance of ccd video camera and measured object and keep angle to be 45 degree by measuring height.After the location point of two ccd video cameras is chosen, the focal length of adjusting ccd video camera makes its imaging clearly and is maintained at the same horizontal plane, and makes optical axis and the measuring instrument axis keeping parallelism of ccd video camera.The elevation angle of adjusting measuring apparatus draws the elevation angle of ccd video camera.Generally make as far as possible measurement point near the intersectional region core of two ccd video cameras or the optical axis of ccd video camera.Controlling two ccd video cameras gathers simultaneously and keeps synchronous, the image of two computing machine acquisitions is processed by main control computer, the image obtaining changes into picture format, and therefrom find out same place, then computer program autonomous operation calculates height and deviation angle, finally calculates the three-dimensional coordinate of this point by mathematical model triangle.

The requirement of cloth station

(1) coordinate setting is taking orthogonal cloth station as main;

(2) high and low angle is taking the mid point of maximum elevation as main.

Two, calculate the accurate coordinates of aerial target by the meter that crosses

As shown in Figure 2, according to the principle that crosses, the object lens center of two Array CCD Camera is respectively O ₁and O ₂, O ₁o ₂between distance be d.

The datum line of supposing two ccd video cameras is horizontal line, and two optical axis intersections are in 1 M, with the object lens center O of left side video camera ₁for initial point, O ₁point to O ₂direction be X ₁axle, crosses O ₁point points upwards is Y ₁axle, Z ₁axle is in surface level and X ₁vertically, and O ₁x ₁y ₁z ₁meet right hand theorem.Point M is at surface level O ₁x ₁z ₁in be projected as M ', the elevation angle of two video cameras is respectively φ 1, φ ₂, position angle is respectively α ₁, α ₂.At video camera O ₁on the image of taking, setting up two-dimensional coordinate system, see Fig. 4, take picture center as initial point Op, and horizontal direction is Xp, and vertical direction is Yp, and the imaging point of putting M overlaps with initial point Op.If M point is at coordinate system O ₁x ₁y ₁z ₁in coordinate M (Xm, Ym, Zm), from geometric relationship:

$\left\{\begin{array}{c}{x}_m=\stackrel{\‾}{o_1{M}^{\′}}\cos {\mathrm{\α}}_1\\ y_m=\stackrel{\‾}{o_1{M}^{\′}}\tan {\mathrm{\Φ}}_1\\ z_m=-\stackrel{\‾}{o_1{M}^{\′}}\sin {\mathrm{\α\α}}_1\end{array}\right.$

At triangle MO ₁o ₂interior by sine:

$\stackrel{\&OverBar;}{O_1{M}^{\&prime;}}=\frac{O_1{\mathrm{<figure-callout\; id="2"\; label="O"\; filenames="95181DEST\_PATH\_HSB0000122136370000012.png"\; state="\{\{state\}\}">O</figure-callout>}}_2\sin {\mathrm{\&alpha;}}_2}{\sin ({\mathrm{\&alpha;}}_1+{\mathrm{\&alpha;}}_2)}=\frac{d\sin {\mathrm{\&alpha;}}_2}{\sin ({\mathrm{\&alpha;}}_1+{\mathrm{\&alpha;}}_2)}$

:

$\left\{\begin{array}{c}{X}_m=\frac{d\sin {\mathrm{\&alpha;}}_2\sin {\mathrm{\&alpha;}}_1}{\sin ({\mathrm{\&alpha;}}_1+{\mathrm{\&alpha;}}_2)}\\ Y_m=\frac{d\sin {\mathrm{\&alpha;}}_2\tan {\mathrm{\&phi;}}_1}{\sin ({\mathrm{\&alpha;}}_1+{\mathrm{\&alpha;}}_2)}\\ Z_m=\frac{d\sin {\mathrm{\&alpha;}}_2\sin {\mathrm{\&alpha;}}_1}{\sin ({\mathrm{\&alpha;}}_1+{\mathrm{\&alpha;}}_2)}\end{array}\right.$

Because the position of the fried point of display shell N is not necessarily dropped on the optical axis of video camera, establishing the position of N point in photographic images Op Xp Yp coordinate system is N (x _pn, y _pn), the apparent value of optical axis can not be used in the elevation angle in formula and position angle, and should adopt φ ' ₁=φ ₁+ Δ φ ₁, φ ' ₂=φ ₂+ Δ φ ₂; α ' ₁=α ₁+ Δ α ₁, α ' ₂=α ₂+ Δ α ₂.

As seen from Figure 5, M point and N point and O ₁and O ₂line is Δ φ at the angle of vertical plane inner projection ₁, Δ φ ₂, be Δ α at the angle of surface level inner projection ₁, Δ α ₂.If N point is at O ₁, O ₂coordinate in the image coordinate system of point is (x _pn1, y _pn1), (x _pn2, y _pn2).The direction of image coordinate system is consistent with actual measurement direction, and angle is with counterclockwise for just.

Work as x _pn1when > 0,0 < α ₁' < α ₁, Δ α ₁< 0

In the time of xpn2 > 0, α ₂' < α ₂< 0, Δ α ₂< 0

Otherwise, contrary.According to image-forming principle, the distance between aerial target motor point and video camera is enough far away, and enough hour of angle can be similar to and think that the image distance of imaging on image equals the focal distance f of camera lens, and the tangent value of angle equals the radian value of this angle.:

Φ’ ₁＝Φ ₁+ΔΦ ₁，Φ’ ₂＝Φ ₂+ΔΦ ₂

α’ ₁＝α ₁+Δα ₁，α ₂＝α ₂+Δα ₂

In formula:

$\mathrm{\&Delta;}{\mathrm{\&phi;}}_1=\frac{y_{\mathrm{pn}1}}{{\mathrm{<figure-callout\; id="1"\; label="f"\; filenames="95181DEST\_PATH\_HSB0000122136370000012.png,HSA0000095271210000011.png"\; state="\{\{state\}\}">f</figure-callout>}}_1};\mathrm{\&Delta;}{\mathrm{\&phi;}}_2=\frac{y_{\mathrm{pn}2}}{{\mathrm{<figure-callout\; id="2"\; label="f"\; filenames="95181DEST\_PATH\_HSB0000122136370000012.png"\; state="\{\{state\}\}">f</figure-callout>}}_2};$

$\mathrm{\&Delta;}{\mathrm{\&alpha;}}_1=\frac{x_{\mathrm{pn}1}}{{\mathrm{<figure-callout\; id="1"\; label="f"\; filenames="95181DEST\_PATH\_HSB0000122136370000012.png,HSA0000095271210000011.png"\; state="\{\{state\}\}">f</figure-callout>}}_1};\mathrm{\&Delta;}{\mathrm{\&alpha;}}_2=\frac{x_{\mathrm{pn}2}}{{\mathrm{<figure-callout\; id="2"\; label="f"\; filenames="95181DEST\_PATH\_HSB0000122136370000012.png"\; state="\{\{state\}\}">f</figure-callout>}}_2}$

Can try to achieve the accurate coordinates of aerial target according to above-mentioned parameter, and then can obtain the volume coordinate of aerial target, calculate firing altitude and the transmitting drift angle of aerial target.

Three, obtaining of image

Adopt synchronous device to take single width target trajectory image, can obtain by software the target trajectory image that explodes.

Four, image storage

The image gathering can be preserved by single frames, and selected certain two field picture that will preserve is preserved: also can preserve continuously, the image gathering is named automatically, and sequential storage, in hard disk, is convenient to analysis below.

The present invention adopts the method for image recognition to carry out the innovation of following aspect

1, realizing first at home many images crosses and measures the center of aerial target and profile is measured;

2, video image and optical measurement are organically combined, improved measuring accuracy;

3, change traditional measurement mode, improved measurement efficiency;

4, remote non-contact measurement, has guaranteed the safety of ground thing and aerial target.

More than show and described ultimate principle of the present invention and principal character and advantage of the present invention.The technician of the industry should understand; the present invention is not restricted to the described embodiments; that in above-described embodiment and instructions, describes just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.The claimed scope of the present invention is defined by appending claims and equivalent thereof.

Claims (5)

1. various visual angles spatial movement flexible body instantaneous position and profile measurement mechanism, it is characterized in that: comprise at least plural photoelectricity angle measurement mechanism, video camera, image pick-up card, computing machine, on a point of fixity, set up described photoelectricity angle measurement mechanism, and on the finder telescope of described photoelectricity angle measurement mechanism, video camera is installed, and the optical axis center that makes described video camera is consistent with the optical axis center of described photoelectricity angle measurement mechanism, the object height that the alignment lens of described video camera is pre-estimated is also fixing, in the time that moving, aerial target records whole motion process record measurement mechanical angle value at that time, described photoelectricity angle measurement mechanism carries out the multiple-camera measurement that crosses, calculate the accurate coordinates of all pixels of aerial target, convert target to picture signal by multiple-camera or other image capturing device, through image pick-up card collection, then be transformed into digitized signal and send computing machine to, computing machine sends special image processing system again to, according to pixel distribution, brightness and colouring information, carry out various computings and carry out the feature of extracting objects, according to default permission and other output with conditions judged results.

2. various visual angles spatial movement flexible body instantaneous position according to claim 1 and profile measurement mechanism, is characterized in that: described video camera is high speed CCD camera.

3. various visual angles spatial movement flexible body instantaneous position according to claim 1 and profile measurement mechanism, is characterized in that: described image processing system is switch.

4. according to various visual angles spatial movement flexible body instantaneous position and profile measurement mechanism described in claim 1-3 any one, it is characterized in that: for aloft instantaneous centre position or the profile of free-moving rigidity or flexible body target are measured.

5. various visual angles spatial movement flexible body instantaneous position according to claim 4 and profile measurement mechanism, is characterized in that: center or profile for aloft bullet, smog, balloon, dirigible, levitation fireworks, kite, Aircraft Targets are measured.

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