CN104949658B - Wire ice-shedding trajectory measurement device based on technique of binocular stereoscopic vision - Google Patents

Abstract

The invention relates to a wire deicing jump trajectory measurement device based on binocular vision technology. The device includes a bracket, two cameras equipped with adjustable focus lenses, and a host computer. The bracket includes three telescopic legs and a rotating platform. , a pitching bracket, and a camera installation platform. At the same time, the device is based on binocular stereo vision technology, and a method for measuring the wire deicing jump trajectory is proposed. The invention adopts the binocular system error compensation mechanism to make the measurement results more accurate; on the other hand, the system cleverly uses the intersection of the two straight lines of the epipolar line and the wire to extract matching points, making the matching results more accurate and more efficient.

Description

Measuring device for wire deicing and jumping trajectory based on binocular stereo vision technology

technical field

The invention belongs to the field of measuring equipment, in particular to a wire deicing jump trajectory measuring device based on binocular vision technology.

Background technique

At present, my country's power transmission network often suffers from icing disasters. After the wire is covered with ice, its specific load increases, and under the action of wind load, it swings, causing the accident of wire breaking and tower collapse. The deicing of the conductors will cause large-scale movement of the conductors, which will generate large dynamic tension on the insulator strings, fittings and iron towers, resulting in structural damage. At the same time, the air gap between the conductors will be reduced, causing phase-to-phase flashover faults. Therefore, it is necessary to remove the ice on the wire in time. From the perspectives of experimental research and actual monitoring, it is necessary to measure the deicing jump trajectory of the wire in real time to control the deicing process.

At present, there is no mature method for measuring the deicing jump trajectory of wires.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies of the prior art and provide a wire deicing jump trajectory measurement device based on binocular stereo vision technology that solves the difficulty in measuring the current wire deicing jump trajectory.

The technical scheme adopted in the present invention is:

A wire deicing jump trajectory measurement device based on binocular vision technology. The device includes a bracket, two cameras equipped with adjustable focus lenses, and a host computer. The bracket includes three telescopic outriggers, a rotating platform, a pitch bracket, Camera installation platform, the bottom of the rotating platform is supported by three telescopic outriggers, a pitch bracket is installed on the top of the rotating platform, a camera installation platform is horizontally hinged on the top of the pitch bracket, and there are chute, slider, and steel ruler on the camera installation platform As well as the horizontal bubble, there are two chutes installed mirror-symmetrically on the surface of the camera installation platform, and a slider is slidably installed on each chute, and a camera installation hole is arranged on the slider, and the steel ruler is set between the two chutes On the upper surface of the camera installation platform corresponding to each other, the two cameras are respectively connected to the same host computer, and the image acquisition, processing and storage of the two cameras are completed synchronously.

Moreover, the rotating platform is a 360° plane rotating platform.

Moreover, a handle is hinged on the pitch bracket.

Moreover, a horizontal bubble is also embedded on the camera installation platform.

The operation steps of a wire deicing jump trajectory measurement device based on binocular vision technology are:

⑴Adjust the baseline distance of the camera according to the size of the calibration board and the target distance, and then fasten the connections of the sliders and other parts. If it is used for the first time, it is necessary to use the black and white checkerboard to calibrate the internal and external parameters of the camera, and then do static measurement experiments many times , to measure the system error curve;

(2) Place the device at a position greater than 500mm below the deicing wire, keep the camera looking up, with the sky as the background, and at the same time make the length direction of the camera installation platform perpendicular to the direction of the wire, that is, there is a large angle between the polar line and the wire;

(3) Continuously capture images of deicing wires;

⑷Transmit the captured image to the host computer for data processing, and calculate the de-icing jump trajectory.

And, in step (1), the calibration method of the internal reference and external reference of the camera is:

Establish the world coordinate system O _W X _W Y _W Z _W , each camera establishes the camera coordinate system O _C X _c Y _c Z _c as the origin, the image coordinate system oxy, the image pixel coordinate system Ouv, and the image coordinate system and image pixel The coordinate system relationship is:

Among them, the actual physical size of each pixel in d _x and d _y in the corresponding direction, the relationship between the camera coordinate system and the world coordinate system is:

Where R is the rotation matrix and T is the translation vector, which is obtained from the linear camera model:

Based on the above formula, the relationship between the image pixel coordinate system and the world coordinate system is obtained as follows:

For each camera, two of the above equations can be obtained, and the coordinates of point P can be solved by combining them together and using the least square method.

Using the Zhang Zhengyou checkerboard calibration algorithm, the internal parameters of the two cameras were calibrated respectively: with External reference: with In this device, if the world coordinate system and the camera coordinate system 1 are fixedly connected, then T ₁ =[0 0 0] ^T ,

Moreover, the acquisition program is written by MATLAB software on the host computer to realize simultaneous and continuous image acquisition and storage of two cameras, and at the same time, the static error curve measurement needs to be carried out by the host computer:

In the range of about 500mm to 3000mm from the camera, the target is moved every 100mm for measurement, and the measurement is repeated 9 times. Calculate the zero point of the error based on the measured value at 500mm, calculate the error curve of each measurement, and then average each measurement point to calculate the error curve, which is expressed as:

Δs _i = f(s _i ) s _i =0, 100, 200, . . . 2500

Δs _i is the measurement error of the corresponding distance.

Calculate the average of the measured values at the starting point, denoted as averA.

Moreover, the data processing flow in step (4) is: image correction, image processing, matching point calculation, trajectory curve calculation.

Moreover, the image correction is set according to the coordinate system of the system, the basic matrix of the system F=M ₁₁ ^-1 [T ₂ ] _× R ₂ M ₁₂ , where M ₁₁ and M ₁₂ are the internal references of the left and right cameras respectively, [ T ₂ ] _× is the antisymmetric matrix of T ₂ . For point P ₁ , its epipolar equation on the right figure is m=Fu _P , is the pixel coordinate of P ₁ on the left image, and the point P ₂ must be located on the straight line m. Generally speaking, due to reasons such as mechanical installation, m is a slash. This system uses the Fusiello image correction method to correct the epipolar line to a horizontal position by rotating the imaging plane. The transformation formula is: T=N ₂ N ₁ ^-1 , where N ₁ is the parameter before correction, and N ₂ is the parameter after redefining the camera plane. parameters. After correction, the epipolar line is in the horizontal position, that is, the matching point is in the image pixel coordinate system, and the vertical coordinates are the same.

Moreover, the image processing and matching point calculation process is as follows: the wire is extracted by binarization, and at the same time, the burrs on the edge of the wire and the internal pores are removed in combination with the method of morphological filtering. In the above-mentioned processed picture Find the edge of the conductor, use the least square method to fit the equation of the centerline of the conductor, and then use the intersection point of the epipolar line and the equation of the centerline to obtain the matching point.

Moreover, after calculating the measured value of the wire deicing jump, error compensation is performed, that is, the value of averA is used as the starting point, and the error curve is used for compensation, and _{Δsi is added to the corresponding si ,} and interpolation is used for non-integer positions method to calculate the error compensation value.

Advantage of the present invention and positive effect are:

The use of the wire deicing jump trajectory measurement device based on the binocular vision technology provided by the present invention can realize the rapid, accurate and automatic measurement of the wire deicing jump wire trajectory. On the one hand, the system adopts the binocular system error compensation mechanism, so that The measurement results are more accurate; on the other hand, the system cleverly uses the intersection of the epipolar line and the wire to extract matching points, making the matching results more accurate and efficient.

The wire deicing jump trajectory measurement device based on binocular vision technology combined with binocular vision technology, digital image processing technology, computer software technology, etc. is advanced in technology and has good promotion value.

Description of drawings

Fig. 1 is the structural representation of the wire deicing jump track measuring device in the present invention;

Fig. 2 is a schematic diagram (overlooking) of each component layout on the camera installation platform of the wire deicing jump trajectory measuring device in the present invention;

Fig. 3 is a schematic diagram of the connection structure between the pitch bracket, the machine installation platform and the handle in the wire deicing jump trajectory measuring device in the present invention;

Fig. 4 is a flowchart of the operation steps of the wire deicing jump trajectory measuring device of the present invention;

Fig. 5 is a schematic diagram of the binocular vision technology adopted by the wire deicing jump trajectory measuring device of the present invention;

Fig. 6 is a flow chart of image processing in the present invention.

detailed description

The present invention will be further described in detail below in conjunction with the accompanying drawings. The following embodiments are only descriptive, not restrictive, and cannot limit the protection scope of the present invention.

A wire deicing jump trajectory measurement device based on binocular vision technology, the device includes a bracket, two cameras 1 equipped with adjustable focus lenses, a host computer 6, the bracket includes three retractable legs 5, and a rotating platform 4 , Pitch bracket 3, camera installation platform 2, the bottom of the rotating platform is supported by three telescopic outriggers, thus satisfying the stability and facilitating height adjustment to meet the needs of shooting adjustments, the rotating platform is a 360° flat rotating platform, which can It supports 360° direction adjustment of the camera. A pitching bracket is installed on the top of the rotating platform to adjust the pitching angle of the camera. When in use, a camera mounting platform is horizontally hinged on the top of the pitching bracket. For easy operation, it is hinged on the pitching bracket There is a handle 12, and the rotation and angle adjustment of the pitch support only need to operate the handle.

There are chute 8, slide block 10, steel ruler 9 and horizontal bubble 7 on the camera installation platform, and two chute chutes are installed mirror-symmetrically on the surface of the camera installation platform, and a slide block is slidably installed on each chute, and the slide block A camera mounting hole 11 is provided on the camera for installing the camera. The slider slides along the chute to adjust the baseline distance of the binocular system. The value of the baseline distance can be calculated by a steel ruler, which is set on the At the position on the upper surface of the camera installation platform corresponding between the grooves, a horizontal bubble is embedded on the camera installation platform to indicate whether the camera installation platform is in a horizontal position.

The two cameras are respectively connected with the same host computer to complete the image acquisition, processing and storage of the two cameras synchronously shooting.

The operation steps of the above-mentioned wire deicing jump trajectory measuring device are:

⑴Adjust the baseline distance of the camera according to the size of the calibration board and the target distance, and then fasten the connections of the sliders and other parts. If it is used for the first time, it is necessary to use the black and white checkerboard to calibrate the internal and external parameters of the camera, and then do static measurement experiments many times , to measure the system error curve;

(2) Place the device at a position greater than 500mm below the deicing wire, keep the camera looking up, with the sky as the background, and at the same time make the length direction of the camera installation platform perpendicular to the direction of the wire, that is, there is a large angle between the polar line and the wire;

(3) Continuously capture images of deicing wires;

⑷Transmit the captured image to the host computer for data processing, and calculate the de-icing jump trajectory.

In step (1), the calibration method of the internal and external parameters of the camera is:

Establish the world coordinate system O _W X _W Y _W Z _W , each camera establishes the camera coordinate system O _C X _c Y _c Z _c as the origin, the image coordinate system oxy, the image pixel coordinate system Ouv, and the image coordinate system and image pixel The coordinate system relationship is:

Among them, the actual physical size of each pixel in d _x and d _y in the corresponding direction, the relationship between the camera coordinate system and the world coordinate system is:

Where R is the rotation matrix and T is the translation matrix, which is obtained from the linear camera model:

Based on the above formula, the relationship between the image pixel coordinate system and the world coordinate system is obtained as follows:

For each camera, two of the above equations can be obtained, and the coordinates of point P can be solved by combining them together and using the least square method.

Using the Zhang Zhengyou checkerboard calibration algorithm, the internal parameters of the two cameras were calibrated respectively: with External reference: with In this device, if the world coordinate system and the camera coordinate system 1 are fixedly connected, then T ₁ =[0 0 0] ^T ,

During the image shooting process, the host computer uses MATLAB software to write the acquisition program to realize simultaneous and continuous image acquisition and storage of two cameras, and at the same time, the static error curve measurement needs to be performed through the host computer:

In the range of about 500mm to 3000mm from the camera, the target is moved every 100mm for measurement, and the measurement is repeated 9 times. Calculate the zero point of the error based on the measured value at 500mm, calculate the error curve of each measurement, and then average each measurement point to calculate the error curve, which is expressed as:

Δs _i = f(s _i ) s _i =0, 100, 200, . . . 2500

Δs _i is the measurement error of the corresponding distance.

Calculate the average of the measured values at the starting point, denoted as averA.

The data processing flow in step (4) is: image correction, image processing, matching point calculation, trajectory curve calculation.

The image correction is set according to the coordinate system of the system, the basic matrix of the system F=M ₁₁ ^-1 [T ₂ ] _× R ₂ M ₁₂ , where M ₁₁ and M ₁₂ are the internal references of the left and right cameras respectively, [T ₂ ] _× is the antisymmetric matrix of T ₂ . For point P ₁ , its epipolar equation on the right figure is m=Fu _P , is the pixel coordinate of P ₁ on the left image, and the point P ₂ must be located on the straight line m. Generally speaking, due to reasons such as mechanical installation, m is a slash. This system uses the Fusiello image correction method to correct the epipolar line to a horizontal position by rotating the imaging plane. The transformation formula is: T=N ₂ N ₁ ^-1 , where N ₁ is the parameter before correction, and N ₂ is the parameter after redefining the camera plane. parameters. After correction, the epipolar line is in the horizontal position, that is, the matching point is in the image pixel coordinate system, and the vertical coordinates are the same.

The above image processing and matching point calculation process is as follows: the wire is extracted by binarization method, and at the same time, combined with the method of morphological filtering, the burrs on the edge of the extracted wire and the internal pores are removed, and the wire is found in the above-mentioned processed picture. For the edge, use the least square method to fit the center line equation of the conductor, and then use the intersection point of the epipolar line and the center line equation to obtain the matching point.

After calculating the measured value of the deicing jump of the wire, perform error compensation, that is, take the averA value as the starting point, use the error curve as compensation, add _{Δsi to the corresponding si ,} and use the interpolation method to calculate the error compensation at the non-integer position value.

Although the embodiments and drawings of the present invention are disclosed for the purpose of illustration, those skilled in the art can understand that various replacements, changes and modifications are possible without departing from the spirit and scope of the present invention and the appended claims Therefore, the scope of the present invention is not limited to what is disclosed in the embodiments and drawings.

Claims (5)

1. A kind of 1. wire ice-shedding trajectory measurement device based on technique of binocular stereoscopic vision, it is characterised in that：The device bag Support, two camera, the host computers that adjustable zoom lens are housed are included, support includes three telescopic legs, rotation platform, pitching branch Frame, camera mounting platform, rotation platform bottom are supported by three telescopic legs, and pitching branch is installed at the top of rotation platform Frame, camera mounting platform is hinged with tilt mount top horizontal, have on camera mounting platform chute, sliding block, Steel Ruler with And spirit bubble, in camera mounting platform upper surface, specular is provided with two chutes, and one is slidably fitted with each chute Sliding block, camera mounting hole is provided with sliding block, Steel Ruler is arranged on the corresponding camera mounting platform upper table between two chutes On the position of face, two cameras are connected with same host computer respectively, are completed the IMAQ of two camera sync pulse jammings, are handled and deposit Storage；

   The device operating procedure is：

   (1) the baseline distance of camera is adjusted according to scaling board size and target range, then fastens the connection at each positions such as sliding block, such as Use first, it is necessary to determine the internal reference of camera and outer ginseng using black and white chessboard case marker again, then repeatedly do static measurement experiment, measurement Go out systematic error curve；

   (2) deicing below wire more than placing device at 500mm, allowing camera to keep looking up posture, using sky as background, simultaneously Allow the length direction of camera mounting platform and wire to move towards vertical, that is, polar curve and wire are had compared with mitre；

   (3) it is continuously shot and deices wire image；

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

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

   Establish world coordinate system O_WX_WY_WZ_W, each camera establishes camera coordinates system O respectively_CX_cY_cZ_cAs origin, image coordinate system Oxy, image pixel coordinates system Ouv, obtain image coordinate system is with image pixel coordinates system relation：

   <mrow> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mi>x</mi> </mtd> </mtr> <mtr> <mtd> <mi>y</mi> </mtd> </mtr> <mtr> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>d</mi> <mi>x</mi> </msub> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mrow> <mo>-</mo> <msub> <mi>u</mi> <mn>0</mn> </msub> <msub> <mi>d</mi> <mi>x</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <msub> <mi>d</mi> <mi>y</mi> </msub> </mtd> <mtd> <mrow> <mo>-</mo> <msub> <mi>v</mi> <mn>0</mn> </msub> <msub> <mi>d</mi> <mi>y</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mi>u</mi> </mtd> </mtr> <mtr> <mtd> <mi>v</mi> </mtd> </mtr> <mtr> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> </mrow>

   Wherein d_x,d_yThe each actual physical size of pixel in the corresponding direction, camera coordinates system and world coordinate system relation For：

   <mrow> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>X</mi> <mi>c</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>Y</mi> <mi>c</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>Z</mi> <mi>c</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mi>R</mi> </mtd> <mtd> <mi>T</mi> </mtd> </mtr> <mtr> <mtd> <msup> <mn>0</mn> <mi>T</mi> </msup> </mtd> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>X</mi> <mi>w</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>Y</mi> <mi>w</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>Z</mi> <mi>w</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> </mrow>

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

   <mrow> <msub> <mi>Z</mi> <mi>c</mi> </msub> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mi>x</mi> </mtd> </mtr> <mtr> <mtd> <mi>y</mi> </mtd> </mtr> <mtr> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mi>f</mi> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mi>f</mi> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> </mtable> </mfenced> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>X</mi> <mi>c</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>Y</mi> <mi>c</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>Z</mi> <mi>c</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> </mrow>

   Comprehensive above formula, the relation for obtaining image pixel coordinates system and world coordinate system are：

   <mfenced open = "" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>Z</mi> <mi>c</mi> </msub> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mi>u</mi> </mtd> </mtr> <mtr> <mtd> <mi>v</mi> </mtd> </mtr> <mtr> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mfrac> <mn>1</mn> <msub> <mi>d</mi> <mi>x</mi> </msub> </mfrac> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <msub> <mi>u</mi> <mn>0</mn> </msub> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mfrac> <mn>1</mn> <msub> <mi>d</mi> <mi>y</mi> </msub> </mfrac> </mtd> <mtd> <msub> <mi>v</mi> <mn>0</mn> </msub> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mi>f</mi> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mi>f</mi> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> </mtable> </mfenced> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mi>R</mi> </mtd> <mtd> <mi>T</mi> </mtd> </mtr> <mtr> <mtd> <msup> <mn>0</mn> <mi>T</mi> </msup> </mtd> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>X</mi> <mi>w</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>Y</mi> <mi>w</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>Z</mi> <mi>w</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>f</mi> <mi>x</mi> </msub> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <msub> <mi>u</mi> <mn>0</mn> </msub> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <msub> <mi>f</mi> <mi>y</mi> </msub> </mtd> <mtd> <msub> <mi>v</mi> <mn>0</mn> </msub> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> </mtable> </mfenced> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mi>R</mi> </mtd> <mtd> <mi>T</mi> </mtd> </mtr> <mtr> <mtd> <msup> <mn>0</mn> <mi>T</mi> </msup> </mtd> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>X</mi> <mi>w</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>Y</mi> <mi>w</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>Z</mi> <mi>w</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>M</mi> <mn>1</mn> </msub> <msub> <mi>M</mi> <mn>2</mn> </msub> <msub> <mi>P</mi> <mi>w</mi> </msub> <mo>=</mo> <msub> <mi>MP</mi> <mi>w</mi> </msub> <mo>=</mo> <mo>&amp;lsqb;</mo> <mi>N</mi> <mo>|</mo> <mi>n</mi> <mo>&amp;rsqb;</mo> <msub> <mi>P</mi> <mi>w</mi> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced>

   Two above-mentioned equations can be obtained for each camera, simultaneous can simultaneously be sat using least square method to solve P points Mark, using Zhang Zhengyou chessboard calibration algorithms, the internal reference of two cameras is calibrated respectively：WithOuter ginseng：WithIn the present apparatus, world coordinate system and camera coordinates are set It is 1 connected, thenT₁=[0 0 0]^T,

   Step (1) in, the scaling method of the internal reference of camera and outer ginseng is：Gathered on the host computer using MATLAB software programmings Program, two cameras sequential image acquisition, storage simultaneously are realized, while need to carry out static error curve survey by host computer Amount：

   In the range of camera about 500mm to 3000mm, move a target every 100mm and measure, duplicate measurements 9 It is secondary, using measured value at 500mm as error calculation zero point, the error curve measured every time is calculated, then each measurement point is asked Average value, error curve is calculated, be expressed as：

   Δs_i=f (s_i)s_i=0,100,200 ... .2500

   Δs_iFor the measurement error of respective distance,

   Calculate starting point measured value and obtain average value, be designated as averA；

   The step (4) in processing data procedure Procedure be：Image rectification, image procossing, match point calculate, geometric locus meter Calculate, described image correction is Coordinate Setting according to system, the basis matrix F=M of system₁₁ ^-1[T₂]_×R₂M₁₂, wherein, M₁₁ And M₁₂The respectively internal reference of left and right camera, [T₂]_×For T₂Antisymmetric matrix；For P₁Point, its polar curve equation in right figure are M=Fu_P,For P₁Pixel coordinate in left image, P₂Point one is positioned on straight line m, as a rule, due to mechanical erection Reason, m are oblique line, and the system uses Fusiello method for correcting image, polar curve is corrected into level by rotatable imaging plane Position, its transformation for mula are：T=N₂N₁ ^-1, wherein N₁For parameter before correction, N₂To redefine the parameter after camera plane；School After just, polar curve is horizontal, i.e., for match point in image pixel coordinates system, ordinate is identical.
2. 2. the wire ice-shedding trajectory measurement device according to claim 1 based on technique of binocular stereoscopic vision, it is special Sign is：The rotation platform is 360 ° of Plane Rotation platforms.
3. 3. the wire ice-shedding trajectory measurement device according to claim 1 based on technique of binocular stereoscopic vision, it is special Sign is：Handle is hinged with the tilt mount.
4. 4. the wire ice-shedding trajectory measurement device according to claim 1 based on technique of binocular stereoscopic vision, it is special Sign is：Described image processing and match point calculating process are：Wire is extracted using the method for binaryzation, meanwhile, combining form The method for learning filtering, the burr at wire edge and internal hole after extracting are removed, finds out and leads in picture after the treatment Line edge, using least square fitting wire center line equation, then tried to achieve using the intersection point of polar curve and center line equation With point.
5. 5. the wire ice-shedding trajectory measurement device according to claim 1 based on technique of binocular stereoscopic vision, it is special Sign is：After the measured value of wire ice-shedding is calculated, carry out error compensation, i.e., using the averA values as Point, is compensated with error curve, in corresponding s_iPlace adds Δ s_i, non-integer position uses the method calculation error offset of interpolation.