CN104949658A - Wire ice-shedding skip track measuring device based on binocular stereovision - Google Patents

Abstract

The invention relates to a wire ice-shedding skip track measuring device based on binocular stereovision. The wire ice-shedding skip track measuring device comprises a support, two cameras equipped with focusable lenses and an upper computer, wherein the support comprises three telescopic supporting legs, a rotary platform, a pitching support and a camera mounting platform. The invention further provides a wire ice-shedding skip track measuring method based on binocular stereovision. On one hand, the binocular system error compensation mechanism is adopted to enable the measurement results to be more accurate; on the other hand, the system skillfully utilizes the intersection point of two straight lines (an epipolar line and a wire) to extract the matching point, so that the matching result is more accurate, and the matching efficiency is higher.

Description

Based on the wire ice-shedding trajectory measurement device of technique of binocular stereoscopic vision

Technical field

The invention belongs to measuring equipment field, especially a kind of wire ice-shedding trajectory measurement device based on binocular vision technology.

Background technology

At present, China's power transmission network often suffers icing disaster.After wire icing, it increases than carrying, and under wind load action, swings, causes wire breaking and tower falling accident.Wire deices and can cause wire Large Amplitude Motion, produces larger dynamic tension, cause structural failure to insulator chain, gold utensil and steel tower, clearance between wire can be made simultaneously to reduce, cause alternate arcing fault.Therefore, the icing on wire will be removed in time.From experimental study and actual monitoring two angles, all want real-time measure traverse line ice-shedding track, to control to deice process.

At present, the maturation method of wire ice-shedding trajectory measurement is not also had.

Summary of the invention

The object of the invention is to overcome prior art deficiency, a kind of wire ice-shedding trajectory measurement device based on technique of binocular stereoscopic vision solving current wire ice-shedding trajectory measurement difficulty is provided.

The technical solution used in the present invention is:

A kind of wire ice-shedding trajectory measurement device based on binocular vision technology, this device comprises support, two cameras that adjustable focus camera lens is housed, host computer, support comprises three telescopic legs, rotation platform, tilt mount, camera mounting platform, supported by three telescopic legs bottom rotation platform, at rotation platform top, tilt mount is installed, at tilt mount top, level is hinged with camera mounting platform, camera mounting platform there is chute, slide block, Steel Ruler and spirit bubble, at camera mounting platform upper surface specular, two chutes are installed, each chute is all slidably fitted with a slide block, slide block is provided with camera mounting hole, Steel Ruler is arranged on camera mounting platform upper surface position corresponding between two chutes, two cameras are connected with same host computer respectively, complete the image acquisition of two camera synchronization shootings, process and storage.

And described rotation platform is 360 ° of Plane Rotation platforms.

And, described tilt mount is hinged with handle.

And, described camera mounting platform is also embedded with spirit bubble.

A kind of operation steps of the wire ice-shedding trajectory measurement device based on binocular vision technology is:

(1) the baseline distance of camera is adjusted according to scaling board size and target range, then the connection at each position such as fastening slide block, as used first, needs to adopt the internal reference of black and white chessboard case marker phasing machine and outer ginseng again, then repeatedly do static measurement experiment, measure systematic error curve;

(2) be greater than 500mm place placing device deicing below wire, allowing camera keep looking up attitude, take sky as background, allow simultaneously the length direction of camera mounting platform and wire trend vertical, namely make polar curve and wire have comparatively mitre;

(3) shooting deices wire image continuously;

(4) the image of shooting is sent to host computer and carries out process data, calculate ice-shedding track.

And, step (1) in, the internal reference of camera and the scaling method of outer ginseng are:

Set up world coordinate system O _wx _wy _wz _w, camera coordinates system O set up respectively by each camera _cx _cy _cz _cas initial point, image coordinate system oxy, image pixel coordinates system Ouv, obtain image coordinate system and image pixel coordinates system and close and be:

$\left[\begin{array}{c}x\\ y\\ 1\end{array}\right]=\left[\begin{array}{ccc}{d}_x& 0& -u_0{d}_x\\ 0& d_y& -v_0{d}_y\\ 0& 0& 1\end{array}\right]\left[\begin{array}{c}u\\ v\\ 1\end{array}\right]$

Wherein d _x, d _yeach pixel actual physical size in the corresponding direction, camera coordinates system and world coordinate system close and are:

$\left[\begin{array}{c}{X}_c\\ Y_c\\ Z_c\\ 1\end{array}\right]=\left[\begin{array}{cc}R& T\\ 0^T& 1\end{array}\right]\left[\begin{array}{c}{X}_w\\ Y_w\\ Z_w\\ 1\end{array}\right]$

Wherein R is rotation matrix, and T is translation vector, is obtained by linear camera model:

$Z_c\left[\begin{array}{c}x\\ y\\ 1\end{array}\right]=\left[\begin{array}{cccc}f& 0& 0& 0\\ 0& f& 0& 0\\ 0& 0& 1& 0\end{array}\right]\left[\begin{array}{c}{X}_c\\ Y_c\\ Z_c\\ 1\end{array}\right]$

Comprehensive above formula, the pass obtaining image pixel coordinates system and world coordinate system is:

$Z_c\left[\begin{array}{c}u\\ v\\ 1\end{array}\right]=\left[\begin{array}{ccc}\frac{1}{d_x}& 0& u_0\\ 0& \frac{1}{d_y}& v_0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{cccc}f& 0& 0& 0\\ 0& f& 0& 0\\ 0& 0& 1& 0\end{array}\right]\left[\begin{array}{cc}R& T\\ 0^T& 1\end{array}\right]\left[\begin{array}{c}{X}_w\\ Y_w\\ Z_w\\ 1\end{array}\right]=\left[\begin{array}{cccc}{f}_x& 0& u_0& 0\\ 0& f_y& v_0& 0\\ 0& 0& 1& 0\end{array}\right]\left[\begin{array}{cc}R& T\\ 0^T& 1\end{array}\right]\left[\begin{array}{c}{X}_w\\ Y_w\\ Z_w\\ 1\end{array}\right]=$

$M_1{M}_2{P}_w={\mathrm{MP}}_w=\left[N\right|n]P_w$

Can obtain two above-mentioned equations for each camera, simultaneous also uses least square method just can solve P point coordinate,

Adopt Zhang Zhengyou chessboard calibration algorithm, calibrate the internal reference of two cameras respectively: $\left[\begin{array}{cccc}{f}_{x1}& 0& u_0& 0\\ 0& f_{y1}& v_0& 0\\ 0& 0& 1& 0\end{array}\right]$ With $\left[\begin{array}{cccc}{f}_{x2}& 0& u_0& 0\\ 0& f_{y2}& v_0& 0\\ 0& 0& 1& 0\end{array}\right],$ Outer ginseng: $\left[\begin{array}{cc}{\tilde{R}}_1& {\tilde{T}}_1\\ 0^T& 1\end{array}\right]$ With $\left[\begin{array}{cc}{\tilde{R}}_2& {\tilde{T}}_2\\ 0^T& 1\end{array}\right],$ In this device, setting world coordinate system and camera coordinates are 1 to be connected, then $R_1=\left[\begin{array}{ccc}1& 0& 0\\ 0& 1& 0\\ 0& 0& 1\end{array}\right],$ T ₁＝[0 0 0] ^T， $R_2={{\tilde{R}}_1}^{-1}{\tilde{R}}_2,T_2={\tilde{T}}_2-{{\tilde{R}}_1}^{-1}{\tilde{R}}_2{\tilde{T}}_1.$

And, described host computer adopts MATLAB software programming capture program, realizes sequential image acquisition, the storage simultaneously of two cameras, need to carry out static error curved measurement by host computer simultaneously:

Be about in 500mm to 3000mm scope at distance camera, move a target every 100mm and measure, duplicate measurements 9 times.With 500mm place measured value for error calculation zero point, calculate each graph of errors measured, then each measurement point averaged, calculate graph of errors, be expressed as:

Δs _i＝f(s _i)s _i＝0,100,200，….2500

Δ s _ifor the measuring error of respective distance.

Calculate starting point measured value and obtain mean value, be designated as averA.

And, described step (4) in data streams journey flow process be: image rectification, image procossing, match point calculate, geometric locus calculate.

And described image rectification is the Coordinate Setting according to system, the basis matrix F=M of system ₁₁ ^-1[T ₂] _×r ₂m ₁₂, wherein, M ₁₁and M ₁₂be respectively the internal reference of left and right camera, [T ₂] _×for T ₂antisymmetric matrix.For P ₁point, its polar curve equation on right figure is m=Fu _p, for P ₁pixel coordinate on left image, P ₂point one is positioned on straight line m.As a rule, due to reasons such as mechanical erections, m is oblique line.Native system adopts Fusiello method for correcting image, and by rotatable imaging plane, polar curve is corrected into horizontal level, its transformation for mula is: T=N ₂n ₁ ^-1, wherein N ₁for correcting front parameter, N ₂for redefining the parameter after camera plane.After correction, polar curve is horizontal, and namely match point is in image pixel coordinates system, and ordinate is identical.

And, described image procossing and match point computation process are: adopt the method for binaryzation to extract wire, simultaneously, the method of combining form filtering, remove the burr at wire edge after extracting and inner hole, find out wire edge in picture after the treatment, utilize least square fitting wire center line equation, then utilize the intersection point of polar curve and center line equation to try to achieve match point.

And, after calculating the described measured value of wire ice-shedding, carry out error compensation, namely using described averA value as starting point, compensate with graph of errors, at corresponding s _iplace adds Δ s _i, non-integer position adopts the method error of calculation offset of interpolation.

Advantage of the present invention and good effect are:

The use of the wire ice-shedding trajectory measurement device based on binocular vision technology provided by the invention, can realize wire ice-shedding wire track quick, accurate, automatically measure, on the one hand, native system adopts biocular systems error compensation mechanism, makes measurement result more accurate; On the other hand, native system utilizes polar curve and wire two straight-line intersection to extract match point dexterously, and make matching result more accurate, efficiency is higher.

Wire ice-shedding trajectory measurement device based on binocular vision technology provided by the invention combines binocular vision technology, digital image processing techniques, computer software technology etc., and advanced technology, has good promotional value.

Accompanying drawing explanation

Fig. 1 is the structural representation of wire ice-shedding trajectory measurement device in the present invention;

Fig. 2 be wire ice-shedding trajectory measurement device in the present invention camera mounting platform on each component layouts schematic diagram (overlooking);

Fig. 3 is the syndeton schematic diagram of tilt mount in the present invention in wire ice-shedding trajectory measurement device and machine mounting platform, handle;

Fig. 4 is wire ice-shedding trajectory measurement device operation steps process flow diagram of the present invention;

Fig. 5 is the binocular vision technology schematic diagram that wire ice-shedding trajectory measurement device of the present invention adopts;

Fig. 6 is image processing flow figure in the present invention.

Embodiment

Below by accompanying drawing, the invention will be further described in conjunction with specific embodiments, and following examples are descriptive, is not determinate, can not limit protection scope of the present invention with this.

A kind of wire ice-shedding trajectory measurement device based on binocular vision technology, this device comprises support, two cameras 1 that adjustable focus camera lens is housed, host computer 6, support comprises three telescopic legs 5, rotation platform 4, tilt mount 3, camera mounting platform 2, supported by three telescopic legs bottom rotation platform, be convenient to while meeting stability thus regulate height, to adapt to shooting adjustment needs, this rotation platform is 360 ° of Plane Rotation platforms, can support that the direction of 360 °, camera adjusts, at rotation platform top, tilt mount is installed, realize the luffing angle adjustment of camera thus, during use, at tilt mount top, level is hinged with camera mounting platform, for the ease of operation, tilt mount is hinged with handle 12, the rotation of tilt mount and angular setting only need to operate this handle.

Camera mounting platform there is chute 8, slide block 10, Steel Ruler 9 and spirit bubble 7, at camera mounting platform upper surface specular, two chutes are installed, each chute is all slidably fitted with a slide block, slide block is provided with camera mounting hole 11, for installing camera, slide block is along slide, thus the baseline distance of adjustment biocular systems, the value of its baseline distance can be calculated by Steel Ruler, Steel Ruler is arranged on camera mounting platform upper surface position corresponding between two chutes, camera mounting platform is also embedded with spirit bubble, be used to indicate camera mounting platform and whether be in horizontal level.

Two cameras are connected with same host computer respectively, complete the image acquisition of two camera synchronization shootings, process and storage.

The operation steps of above-mentioned wire ice-shedding trajectory measurement device is:

(1) the baseline distance of camera is adjusted according to scaling board size and target range, then the connection at each position such as fastening slide block, as used first, needs to adopt the internal reference of black and white chessboard case marker phasing machine and outer ginseng again, then repeatedly do static measurement experiment, measure systematic error curve;

(2) be greater than 500mm place placing device deicing below wire, allowing camera keep looking up attitude, take sky as background, allow simultaneously the length direction of camera mounting platform and wire trend vertical, namely make polar curve and wire have comparatively mitre;

(3) shooting deices wire image continuously;

(4) the image of shooting is sent to host computer and carries out process data, calculate ice-shedding track.

Step (1) in, the internal reference of camera and the scaling method of outer ginseng are:

Set up world coordinate system O _wx _wy _wz _w, camera coordinates system O set up respectively by each camera _cx _cy _cz _cas initial point, image coordinate system oxy, image pixel coordinates system Ouv, obtain image coordinate system and image pixel coordinates system and close and be:

$\left[\begin{array}{c}x\\ y\\ 1\end{array}\right]=\left[\begin{array}{ccc}{d}_x& 0& -u_0{d}_x\\ 0& d_y& -v_0{d}_y\\ 0& 0& 1\end{array}\right]\left[\begin{array}{c}u\\ v\\ 1\end{array}\right]$

Wherein d _x, d _yeach pixel actual physical size in the corresponding direction, camera coordinates system and world coordinate system close and are:

$\left[\begin{array}{c}{X}_c\\ Y_c\\ Z_c\\ 1\end{array}\right]=\left[\begin{array}{cc}R& T\\ 0^T& 1\end{array}\right]\left[\begin{array}{c}{X}_w\\ Y_w\\ Z_w\\ 1\end{array}\right]$

Wherein R is rotation matrix, and T is translation matrix, is obtained by linear camera model:

$Z_c\left[\begin{array}{c}x\\ y\\ 1\end{array}\right]=\left[\begin{array}{cccc}f& 0& 0& 0\\ 0& f& 0& 0\\ 0& 0& 1& 0\end{array}\right]\left[\begin{array}{c}{X}_c\\ Y_c\\ Z_c\\ 1\end{array}\right]$

Comprehensive above formula, the pass obtaining image pixel coordinates system and world coordinate system is:

$Z_c\left[\begin{array}{c}u\\ v\\ 1\end{array}\right]=\left[\begin{array}{ccc}\frac{1}{d_x}& 0& u_0\\ 0& \frac{1}{d_y}& v_0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{cccc}f& 0& 0& 0\\ 0& f& 0& 0\\ 0& 0& 1& 0\end{array}\right]\left[\begin{array}{cc}R& T\\ 0^T& 1\end{array}\right]\left[\begin{array}{c}{X}_w\\ Y_w\\ Z_w\\ 1\end{array}\right]=\left[\begin{array}{cccc}{f}_x& 0& u_0& 0\\ 0& f_y& v_0& 0\\ 0& 0& 1& 0\end{array}\right]\left[\begin{array}{cc}R& T\\ 0^T& 1\end{array}\right]\left[\begin{array}{c}{X}_w\\ Y_w\\ Z_w\\ 1\end{array}\right]=$

$M_1{M}_2{P}_w={\mathrm{MP}}_w=\left[N\right|n]P_w$

Can obtain two above-mentioned equations for each camera, simultaneous also uses least square method just can solve P point coordinate,

Adopt Zhang Zhengyou chessboard calibration algorithm, calibrate the internal reference of two cameras respectively: $\left[\begin{array}{cccc}{f}_{x1}& 0& u_0& 0\\ 0& f_{y1}& v_0& 0\\ 0& 0& 1& 0\end{array}\right]$ With $\left[\begin{array}{cccc}{f}_{x2}& 0& u_0& 0\\ 0& f_{y2}& v_0& 0\\ 0& 0& 1& 0\end{array}\right],$ Outer ginseng: $\left[\begin{array}{cc}{\tilde{R}}_1& {\tilde{T}}_1\\ 0^T& 1\end{array}\right]$ With $\left[\begin{array}{cc}{\tilde{R}}_2& {\tilde{T}}_2\\ 0^T& 1\end{array}\right],$ In this device, setting world coordinate system and camera coordinates are 1 to be connected, then $R_1=\left[\begin{array}{ccc}1& 0& 0\\ 0& 1& 0\\ 0& 0& 1\end{array}\right],$ T ₁＝[0 0 0] ^T， $R_2={{\tilde{R}}_1}^{-1}{\tilde{R}}_2,T_2={\tilde{T}}_2-{{\tilde{R}}_1}^{-1}{\tilde{R}}_2{\tilde{T}}_1.$

In image shoot process, host computer adopts MATLAB software programming capture program, realizes sequential image acquisition, the storage simultaneously of two cameras, need to carry out static error curved measurement by host computer simultaneously:

Be about in 500mm to 3000mm scope at distance camera, move a target every 100mm and measure, duplicate measurements 9 times.With 500mm place measured value for error calculation zero point, calculate each graph of errors measured, then each measurement point averaged, calculate graph of errors, be expressed as:

Δs _i＝f(s _i)s _i＝0,100,200，….2500

Δ s _ifor the measuring error of respective distance.

Calculate starting point measured value and obtain mean value, be designated as averA.

Step (4) in data streams journey flow process be: image rectification, image procossing, match point calculate, geometric locus calculate.

Described image rectification is the Coordinate Setting according to system, the basis matrix F=M of system ₁₁ ^-1[T ₂] _×r ₂m ₁₂, wherein, M ₁₁and M ₁₂be respectively the internal reference of left and right camera, [T ₂] _×for T ₂antisymmetric matrix.For P ₁point, its polar curve equation on right figure is m=Fu _p, for P ₁pixel coordinate on left image, P ₂point one is positioned on straight line m.As a rule, due to reasons such as mechanical erections, m is oblique line.Native system adopts Fusiello method for correcting image, and by rotatable imaging plane, polar curve is corrected into horizontal level, its transformation for mula is: T=N ₂n ₁ ^-1, wherein N ₁for correcting front parameter, N ₂for redefining the parameter after camera plane.After correction, polar curve is horizontal, and namely match point is in image pixel coordinates system, and ordinate is identical.

Above-mentioned image procossing and match point computation process are: adopt the method for binaryzation to extract wire, simultaneously, the method of combining form filtering, remove the burr at wire edge after extracting and inner hole, wire edge is found out in picture after the treatment, utilize least square fitting wire center line equation, then utilize the intersection point of polar curve and center line equation to try to achieve match point.

After calculating the measured value of wire ice-shedding, carry out error compensation, namely using described averA value as starting point, compensate with graph of errors, at corresponding s _iplace adds Δ s _i, non-integer position adopts the method error of calculation offset of interpolation.

Although disclose embodiments of the invention and accompanying drawing for the purpose of illustration, but it will be appreciated by those skilled in the art that: in the spirit and scope not departing from the present invention and claims, various replacement, change and amendment are all possible, therefore, scope of the present invention is not limited to the content disclosed in embodiment and accompanying drawing.

Claims (10)

1. the wire ice-shedding trajectory measurement device based on binocular vision technology, it is characterized in that: this device comprises support, two cameras that adjustable focus camera lens is housed, host computer, support comprises three telescopic legs, rotation platform, tilt mount, camera mounting platform, supported by three telescopic legs bottom rotation platform, at rotation platform top, tilt mount is installed, at tilt mount top, level is hinged with camera mounting platform, camera mounting platform there is chute, slide block, Steel Ruler and spirit bubble, at camera mounting platform upper surface specular, two chutes are installed, each chute is all slidably fitted with a slide block, slide block is provided with camera mounting hole, Steel Ruler is arranged on camera mounting platform upper surface position corresponding between two chutes, two cameras are connected with same host computer respectively, complete the image acquisition of two camera synchronization shootings, process and storage.

2. the wire ice-shedding trajectory measurement device based on binocular vision technology according to claim 1, is characterized in that: described rotation platform is 360 ° of Plane Rotation platforms.

3. the wire ice-shedding trajectory measurement device based on binocular vision technology according to claim 1, is characterized in that: on described tilt mount, be hinged with handle.

4. the wire ice-shedding trajectory measurement device based on binocular vision technology according to claim 1, is characterized in that: its operation steps is:

(1) the baseline distance of camera is adjusted according to scaling board size and target range, then the connection at each position such as fastening slide block, as used first, needs to adopt the internal reference of black and white chessboard case marker phasing machine and outer ginseng again, then repeatedly do static measurement experiment, measure systematic error curve;

(2) be greater than 500mm place placing device deicing below wire, allowing camera keep looking up attitude, take sky as background, allow simultaneously the length direction of camera mounting platform and wire trend vertical, namely make polar curve and wire have comparatively mitre;

(3) shooting deices wire image continuously;

(4) the image of shooting is sent to host computer and carries out process data, calculate ice-shedding track.

5. the wire ice-shedding trajectory measurement device based on binocular vision technology according to claim 4, is characterized in that: step (1) in, the internal reference of camera and the scaling method of outer ginseng are:

Set up world coordinate system O _wx _wy _wz _w, camera coordinates system O set up respectively by each camera _cx _cy _cz _cas initial point, image coordinate system oxy, image pixel coordinates system Ouv, obtain image coordinate system and image pixel coordinates system and close and be:

$\left[\begin{array}{c}x\\ y\\ 1\end{array}\right]=\left[\begin{array}{ccc}{d}_x& 0& {-u}_0{d}_x\\ 0& d_y& {-v}_0{d}_y\\ 0& 0& 1\end{array}\right]\left[\begin{array}{c}u\\ v\\ 1\end{array}\right]$

Wherein d _x, d _yeach pixel actual physical size in the corresponding direction, camera coordinates system and world coordinate system close and are:

$\left[\begin{array}{c}{X}_c\\ Y_c\\ Z_c\\ 1\end{array}\right]=\left[\begin{array}{cc}R& T\\ 0^T& 1\end{array}\right]\left[\begin{array}{c}{X}_w\\ Y_w\\ Z_w\\ 1\end{array}\right]$

Wherein R is rotation matrix, and T is translation vector, is obtained by linear camera model:

Comprehensive above formula, the pass obtaining image pixel coordinates system and world coordinate system is:

$\begin{array}{c}{Z}_c\left[\begin{array}{c}u\\ v\\ 1\end{array}\right]\left[\begin{array}{ccc}\frac{1}{d_x}& 0& u_0\\ 0& \frac{1}{d_y}& v_0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{cccc}f& 0& 0& 0\\ 0& f& 0& 0\\ 0& 0& 1& 0\end{array}\right]\left[\begin{array}{cc}R& T\\ 0^T& 1\end{array}\right]\left[\begin{array}{c}{X}_w\\ Y_w\\ Z_w\\ 1\end{array}\right]=\left[\begin{array}{cccc}{f}_x& 0& u_0& 0\\ 0& f_y& v_0& 0\\ 0& 0& 1& 0\end{array}\right]\left[\begin{array}{cc}R& T\\ 0^T& 1\end{array}\right]\left[\begin{array}{c}{X}_w\\ Y_w\\ Z_w\\ 1\end{array}\right]=\\ M_1{M}_2{P}_w={\mathrm{MP}}_w=\left[N\right|n]P_w\end{array}$

Can obtain two above-mentioned equations for each camera, simultaneous also uses least square method just can solve P point coordinate, adopts Zhang Zhengyou chessboard calibration algorithm, calibrates the internal reference of two cameras respectively: $\left[\begin{array}{cccc}{f}_{x1}& 0& u_0& 0\\ 0& f_{y1}& v_0& 0\\ 0& 0& 1& 0\end{array}\right]$ With $\left[\begin{array}{cccc}{f}_{x2}& 0& u_0& 0\\ 0& f_{y2}& v_0& 0\\ 0& 0& 1& 0\end{array}\right],$ Outer ginseng: $\left[\begin{array}{cc}{\tilde{R}}_1& {\tilde{T}}_1\\ 0^T& 1\end{array}\right]$ With $\left[\begin{array}{cc}{\tilde{R}}_2& {\tilde{T}}_2\\ 0^T& 1\end{array}\right],$ In this device, setting world coordinate system and camera coordinates are 1 to be connected, then $R_1=\left[\begin{array}{ccc}1& 0& 0\\ 0& 1& 0\\ 0& \text{0}& 1\end{array}\right],$ T ₁＝[0 0 0] ^T， $R_2={{\tilde{R}}_1}^{-1}{\tilde{R}}_2,T_2={\tilde{T}}_2-{{\tilde{R}}_1}^{-1}{\tilde{R}}_2{\tilde{T}}_1.$

6. the wire ice-shedding trajectory measurement device based on binocular vision technology according to claim 4, it is characterized in that: step (1) in, the internal reference of camera and the scaling method of outer ginseng are: described host computer adopts MATLAB software programming capture program, realize sequential image acquisition, the storage simultaneously of two cameras, need to carry out static error curved measurement by host computer simultaneously:

Be about in 500mm to 3000mm scope at distance camera, move a target every 100mm and measure, duplicate measurements 9 times, with 500mm place measured value for error calculation zero point, calculate each graph of errors measured, then each measurement point is averaged, calculate graph of errors, be expressed as:

Δs _i＝f(s _i)s _i＝0,100,200，….2500

Δ s _ifor the measuring error of respective distance,

Calculate starting point measured value and obtain mean value, be designated as averA.

7. the wire ice-shedding trajectory measurement device based on binocular vision technology according to claim 6, is characterized in that: described step (4) in data streams journey flow process be: image rectification, image procossing, match point calculate, geometric locus calculate.

8. image rectification is the Coordinate Setting according to system according to claim 7, the basis matrix F=M of system ₁₁ ^-1[T ₂] _×r ₂m ₁₂, wherein, M ₁₁and M ₁₂be respectively the internal reference of left and right camera, [T ₂] _×for T ₂antisymmetric matrix.For P ₁point, its polar curve equation on right figure is m=Fu _p, for P ₁pixel coordinate on left image, P ₂point one is positioned on straight line m.As a rule, due to reasons such as mechanical erections, m is oblique line.Native system adopts Fusiello method for correcting image, and by rotatable imaging plane, polar curve is corrected into horizontal level, its transformation for mula is: wherein N ₁for correcting front parameter, N ₂for redefining the parameter after camera plane.After correction, polar curve is horizontal, and namely match point is in image pixel coordinates system, and ordinate is identical.

9. the wire ice-shedding trajectory measurement device based on binocular vision technology according to claim 7, it is characterized in that: described image procossing and match point computation process are: adopt the method for binaryzation to extract wire, simultaneously, the method of combining form filtering, remove the burr at wire edge after extracting and inner hole, wire edge is found out in picture after the treatment, utilize least square fitting wire center line equation, then utilize the intersection point of polar curve and center line equation to try to achieve match point.

10. the wire ice-shedding trajectory measurement device based on binocular vision technology according to claim 7, it is characterized in that: after calculating the described measured value of wire ice-shedding, carry out error compensation, namely using described averA value as starting point, compensate with graph of errors, at corresponding s _iplace adds Δ s _i, non-integer position adopts the method error of calculation offset of interpolation.