CN104267444A - Real-time three-dimensional imaging device for hole - Google Patents
Real-time three-dimensional imaging device for hole Download PDFInfo
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- CN104267444A CN104267444A CN201410569357.1A CN201410569357A CN104267444A CN 104267444 A CN104267444 A CN 104267444A CN 201410569357 A CN201410569357 A CN 201410569357A CN 104267444 A CN104267444 A CN 104267444A
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Abstract
The invention discloses a real-time three-dimensional imaging device for a hole. The real-time three-dimensional imaging device comprises an intelligent car and a binocular imaging and image processing system arranged on the intelligent car, wherein a CPU (Central Processing Unit) is arranged on the intelligent car and is connected with the binocular imaging and image processing system; the binocular imaging and image processing system comprises a camera acquiring chip and a camera; an electronic compass, a steering engine, a wireless module, a photosensitive sensor, a digital temperature and humidity sensor, an ultrasonic module, a distance counter, a gyroscope, an accelerator sensor and a GPS (Global Positioning System) module which are connected with the CPU are arranged on the intelligent car. According to the real-time three-dimensional imaging device disclosed by the invention, an intelligent detector is used for detecting internal structures of cave mines and the like; internal information of the caves are acquired; the internal structure of the carve is completely displayed on the computer, so that the security is greatly improved.
Description
Technical field
The present invention relates to a kind of hole sniffer, specifically a kind of hole real time three-dimensional imaging device.
Background technology
Detection ball is mainly used in internal structure such as detection cave, mine etc.Need to carry out robot exploration in advance when detecting dangerous cave for current, then judge that whether the inside is dangerous by data, whether people can enter, and this detection ball is exactly the role serving as robot, and the structure in cave is directly shown on computers.More and more need for the detector of this kind in future, be no matter the cave in disaster area or danger, people need to know that inner case just can formulate action in advance, and following development trend is exactly by the power source optimization process of detector, integrated level is high, makes the intellectuality that it is real.
There are all kinds both at home and abroad on the detector, they are for different objects, but the Bounce Imaging Explorer that the minimonitor on the profile of detection cave also only has a company of the U.S. to invent, it is mainly used in exploration seismic district and scene of fire, shortcoming is passive delivery, need the manual impelling of people, domesticly do not find Related product.
Instant image is all just taken by cave robots all at present, cannot realize the scanning to overall profile, record and 3-D display; And the intelligent detecting ball of latest version is tumbling-type adds flip-over type, it does not have power source, can only roll according to the initial throwing power of people, cannot to very dark detecting caves, and the three-dimensional plot of synthesis is also limited Local map.
Summary of the invention
In order to solve the defect that prior art exists, the object of this invention is to provide a kind of hole real time three-dimensional imaging device, this device inner structure of Smart Detector detection cave mine etc., gather cavernous interior information, and the structure of the inside is all shown on computers, substantially increase security.
Object of the present invention is realized by following technical solution:
A kind of hole real time three-dimensional imaging device, is characterized in that: this device comprises intelligent carriage and the binocular imaging be arranged on intelligent carriage and image processing system, and intelligent carriage is provided with CPU, and binocular imaging is connected with CPU with image processing system; Binocular imaging and image processing system comprise camera collection chip and camera; Intelligent carriage is provided with the electronic compass, steering wheel, wireless module, light sensor, digital hygro sensor, ultrasonic wave module, distance counter, gyroscope, acceleration transducer and the GPS module that are connected with CPU.
In the present invention, intelligent carriage has three kinds of control modes, is respectively automatic detection pattern, touch-screen steer mode, gesture induction pattern, and its Three models is selected by the graphical interfaces of remote control end and switched.
Binocular imaging and image processing system scan cave inner wall shape, are then processed scan image by Matlab, extract cavernous interior structural information, then draw out the three-D pattern of cavernous interior structure.CPU is connected with computer by wireless module.
The present invention is the pictures taken utilizing camera, is processing picture, the three-dimensional plot of reconstruction of scenes on matlab by binocular effect, simultaneously can displays temperature and humidity in real time.Consider actual location, GPS module has been installed onboard, can locate dolly with mobile phone.Dolly also adds warm and humid module carries out temperature and humidity measurement to cavernous interior, and its data are sent on computer.
The present invention adopts creeper truck as medium, carry the required sensor of detection, creeper truck has the strong feature of obstacle-overpass ability, coordinate the use of sensor, dolly can be made to go deep into rugged cave, and can when finishing the work or run into emergency case, auto-returned, ensures the safety of dolly and detection instrument; With tradition by compared with camera realtime graphic, the method structure in cave presented with the form of three-dimensional plot is more directly perceived, advantageously in grasp cavernous interior situation.In the process of practical application, for the detection of the zone of ignorances such as cavern,
The present invention's inner structure of Smart Detector detection cave mine etc., gathers cavernous interior information, and the structure of the inside is all shown on computers, substantially increase security.There is detection range far away, the advantages such as result of detection is directly perceived.And the geographical detection of archaeology and scientific research geology detecting field can be applied in.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is automatic detection pattern diagram in the present invention.
Fig. 3 is touch-screen steer mode schematic diagram in the present invention.
Fig. 4 is binocular imaging and image procossing schematic diagram in the present invention.
Embodiment
A kind of hole real time three-dimensional imaging device, comprise intelligent carriage 14 and the binocular imaging be arranged on intelligent carriage and image processing system 15, intelligent carriage is provided with CPU1, and binocular imaging is connected with CPU with image processing system; Binocular imaging and image processing system comprise camera collection chip 13 and two cameras 12; Intelligent carriage is provided with the electronic compass 2, steering wheel 3, wireless module 4, light sensor 5, digital hygro sensor 6, ultrasonic wave module 7, distance counter 8, gyroscope 9, acceleration transducer 10 and the GPS module 11 that are connected with CPU.
CPUES ET S3C2440, it is the main control chip of detector system, electronic compass be intelligent car systems provider to, the rotation of servos control camera, wireless module is mainly used in the information transmission of touch-screen and dolly and computing machine and dolly, light sensor opens light compensating lamp for measuring light intensity, contribute to the shooting of camera, the temperature and humidity that digital hygro sensor measures cave is sent on computing machine, ultrasonic wave module measures the distance of preceding object thing whether in safe range, the distance that distance counter counting of carriers travels, gyroscope and acceleration transducer are all used to the change responding to gesture, thus realize gesture induction Schema control dolly, two cameras form the image of biocular systems shooting cave inwall, camera collection chip gathers the image captured by two cameras
Automatic detection pattern be intelligent carriage by self-contained sensor, automatic obstacle, automatic search road, without the need to artificial participation, can detect cavern.This kind of pattern by being arranged on the ultrasonic sensor real-time detection preceding object thing distance in dolly front, and sending it back computing machine and carries out recording and analyzing.If detect preceding object thing distance to be less than threshold value, dolly will halt, simultaneously by the detection direction of steering wheel adjustment ultrasonic detector, carry out distance measurement, meanwhile, by electronic compass, record the orientation of this detection, 9 ~ 15 degree, detection angle interval, detection total angle 180 degree, is compared by the distance of control chip to all detection inferoanterior barriers, draws best orientation, then control dolly to rotate to this direction, move on.When detecting within the scope of 180 degree, when obstacle distance is all less than threshold value, dolly will revolve turnback, return, and realize the automatic detection of dolly with this.
Touch-screen steer mode is by touch-screen input control order, the control mode of artificial remote operated vehicle.Gesture induction pattern is the acceleration transducer by being worn on hand, and the change of induction gesture, as a kind of control mode of the input of steering order.Then by wireless transmission steering order, the advance of dolly, retrogressing, left-hand rotation, right-hand rotation and stopping is controlled.These two kinds of control modes are the control modes of adding as human intervention automatic detection process, are in complex environment, when there is the problems such as detecting defects during automatic detection, complete whole detection process by the motion of manual control dolly.
Binocular imaging and image processing system are by binocular imaging system, cave inner wall shape is scanned, then by Matlab, scan image is processed, extract cavernous interior structural information, then draw out the three-D pattern of cavernous interior structure, form the system with collection image acquisition, process, representational role of complete set.
Utilize the pictures taken of camera, process picture by binocular effect, the three-dimensional plot of reconstruction of scenes on matlab, simultaneously can displays temperature and humidity in real time.Intelligent carriage ensures that package unit can enter safely data message in cave, successful scan hole and the basis returned safely.Have three kinds of control modes, be respectively automatic detection pattern, touch-screen steer mode, gesture induction pattern, its Three models can be selected by the graphical interfaces of remote control end and switch.Have two kinds to be carry out on the touchscreen in this Three models, one is gesture induction, and another is touch screen steer mode.Consider actual location simultaneously, GPS module has been installed onboard, can locate dolly with mobile phone.Dolly also adds warm and humid module carries out temperature and humidity measurement to cavernous interior, and its data are sent on computer.
Specific works mode is as follows:
Intelligent carriage working method:
The impulse meter that distance counter is made up of 4 74LS161, carrier motor in the process walked can rotate, pulse is produced by optocoupler, 16 digit counters be combined into by 74LS161, the value of counting is passed to CPU S3C2440, S3C2440 is calculated as distance again, and often measuring start-stop counter will empty, and can ensure that counter can not full value like this.The distance of preceding object thing is measured in the direction that dolly advances mainly A2 by ultrasonic wave module, whether the distance of A3 disturbance in judgement thing is in safe range, if A4 dolly in safe range moves on, A5 not in safe range dolly then halt, the direction of A6 Automatic-searching clear moves on, if all have barrier dolly to return in detection 180 degree.Light compensating lamp, for measuring light intensity, when beam intensity ratio is more weak, is now opened by light sensor, so that camera shooting.Camera is controlled, because the huge process of camera data is slow, so need external equipment again with the main control chip of STM32 series.The image captured is temporarily stored in FIFO by camera, STM32 can directly from read data FIFO, STM32 also can be sent in the order of this shooting to OV7670, after OV7670 has clapped, also the zone bit information of a two field picture has been clapped in transmission, reading one by one when getting image.STM32 also can control the operation of the color lamp on carrier simultaneously.
Adopt creeper truck as medium, carry the required sensor of detection, creeper truck has the strong feature of obstacle-overpass ability, coordinate the use of sensor, dolly can be made to go deep into rugged cave, and can when finishing the work or run into emergency case, auto-returned, ensures the safety of dolly and detection instrument; With tradition by compared with camera realtime graphic, the method structure in cave presented with the form of three-dimensional plot is more directly perceived, advantageously in grasp cavernous interior situation.In the process of practical application, for the detection of the zone of ignorances such as cavern, it is far away that the present invention has detection range, the advantages such as result of detection is directly perceived.And the geographical detection of archaeology and scientific research geology detecting field can be applied in.
Fig. 2 is automatic detection pattern diagram.
A1: start;
A2: by being arranged on the ultrasonic sensor real-time detection preceding object thing distance in dolly front, and send it back computing machine and carry out recording and analyzing;
A3 judges that preceding object thing distance is whether in safe range, does not turn A6, in safe range, turns A5 in safe range
A4: in safe range, dolly moves on, and turns A2;
A5: not in safe range, dolly will halt, and turn A6;
A6: by the detection direction of steering wheel adjustment ultrasonic detector, carry out distance measurement, simultaneously, pass through electronic compass, record the orientation of this detection, 9 ~ 15 degree, detection angle interval, detection total angle 180 degree, compared by the distance of control chip to all detection inferoanterior barriers, draw best orientation;
A7: then control dolly and rotate to this direction, move on, turn A5;
Note: when detecting within the scope of 180 degree, when obstacle distance is all less than threshold value, dolly will revolve turnback, and return.
Fig. 3 is touch-screen steer mode schematic diagram in the present invention.
018 touch-screen can send information to S3C2440,
Information processing is sent to display screen by 017 S3C2440 again, and display screen is made and changed pattern accordingly, sends to dolly again by wireless.
And 016 MPU6050 is gyro module, we can know gesture by measuring gravity induction, thus information is issued 018 touch-screen.
Image procossing and imaging system working method: Fig. 4 are binocular imaging and image procossing schematic diagram.
First, 019 uses highlighted red LED lamp to be arranged in annular, by diaphragm, makes LED lamplight form toroidal, impinges upon on the wall of cave;
020 by being arranged on the biocular systems formed by two cameras on dolly, the picture of shooting cave inwall, and photo comprises LED lamplight;
The picture of shooting is wirelessly transmitted to computing machine by 021, is then processed picture by Matlab, in order to improve picture processing speed, for the feature of the design, designs simple and quick algorithm;
022 Matlab reads after photo, is first extracted by the red component in photo, and owing to adopting red LED lamp to break forth annular aperture, in the photo after extraction, annular aperture is particularly outstanding; Then picture is carried out binaryzation, then in photo, annular aperture is just extracted, and aperture is divided into some equal portions, when the equal portions be divided into are abundant, namely can think that each equal portions is a point, according to the feature of binocular imaging system, calculate the distance and bearing of each each point
023 use Matlab to draw out on this aperture position a little,
024 uses straight line to connect two adjacent points, just can depict the cave inner wall shape of this aperture present position; When dolly moves forward, aperture position changes, and camera is taken pictures again, processes according to above-mentioned algorithm, can draw out next annulus.Between two annulus, relative position is by being arranged on distance counter on dolly and electronic compass, namely the change in the Distance geometry advance orientation that dolly advances is calculated, by adding distance and bearing information at Matlab, just can determine the relative position of front and back two aperture, and can accurately draw out.When aperture is abundant, all aperture patterns is all spliced, just can reflect the shape of cave inwall.
Claims (5)
1. a hole real time three-dimensional imaging device, it is characterized in that: this device comprises intelligent carriage (14) and the binocular imaging be arranged on intelligent carriage (14) and image processing system (15), intelligent carriage (14) is provided with CPU(1), binocular imaging and image processing system (15) and CPU(1) be connected; Binocular imaging and image processing system (15) comprise camera collection chip (13) and camera (12); Intelligent carriage (14) is provided with and CPU(1) electronic compass (2), steering wheel (3), wireless module (4), light sensor (5), digital hygro sensor (6), ultrasonic wave module (7), distance counter (8), gyroscope (9), acceleration transducer (10) and the GPS module (11) that are connected.
2. hole real time three-dimensional imaging device according to claim 1, it is characterized in that: intelligent carriage (14) has three kinds of control modes, be respectively automatic detection pattern, touch-screen steer mode, gesture induction pattern, its Three models is selected by the graphical interfaces of remote control end and is switched.
3. hole real time three-dimensional imaging device according to claim 1, it is characterized in that: binocular imaging and image processing system (15) scan cave inner wall shape, then by Matlab, scan image is processed, extract cavernous interior structural information, then draw out the three-D pattern of cavernous interior structure.
4. hole real time three-dimensional imaging device according to claim 1, is characterized in that: CPU(1) be connected with computer by wireless module (4).
5. hole real time three-dimensional imaging device according to claim 1, is characterized in that: intelligent carriage (14) is creeper truck.
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| CN201410569357.1A CN104267444A (en) | 2014-10-23 | 2014-10-23 | Real-time three-dimensional imaging device for hole |
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Application publication date: 20150107 |