CN104949658B - Wire ice-shedding trajectory measurement device based on technique of binocular stereoscopic vision - Google Patents
Wire ice-shedding trajectory measurement device based on technique of binocular stereoscopic vision Download PDFInfo
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Abstract
The present invention relates to a kind of wire ice-shedding trajectory measurement device based on binocular vision technology, the device device includes support, two camera, the host computers that adjustable zoom lens are housed, support includes three telescopic legs, rotation platform, tilt mount, camera mounting platform, the device is based on technique of binocular stereoscopic vision simultaneously, proposes a kind of wire ice-shedding trajectory measurement method.The present invention uses biocular systems error compensation mechanism so that measurement result is more accurate；On the other hand, the system dexterously utilizes polar curve and the straight-line intersection of wire two extraction match point so that matching result is more accurate, more efficient.
Description
Technical field
The invention belongs to measuring apparatus field, especially a kind of wire ice-shedding track based on binocular vision technology is surveyed
Measure device.
Background technology
At present, China's power transmission network frequently suffers from icing disaster.It increases than carrying after wire icing, in wind load action
Under, swing, cause wire breaking and tower falling accident.Wire, which deices, can cause wire Large Amplitude Motion, to insulator chain, gold utensil and
Steel tower produces larger dynamic tension, causes structural failure, while can make the air gap reduction between wire, triggers alternate flashover
Failure.Therefore, the icing on wire is removed in time.From two angles of experimental study and actual monitoring, will survey in real time
Wire ice-shedding track is measured, process is deiced with control.
At present, also without the maturation method of wire ice-shedding trajectory measurement.
The content of the invention
It is an object of the invention to overcome prior art insufficient, there is provided one kind solves current wire ice-shedding trajectory measurement
The difficult wire ice-shedding trajectory measurement device based on technique of binocular stereoscopic vision.
The technical solution adopted by the present invention is：
A kind of wire ice-shedding trajectory measurement device based on binocular vision technology, the device include support, two dresses
There are camera, the host computer of adjustable zoom lens, support is put down including three telescopic legs, rotation platform, tilt mount, camera installation
Platform, rotation platform bottom are supported by three telescopic legs, tilt mount are installed at the top of rotation platform, on tilt mount top
Portion's level is hinged with camera mounting platform, has chute, sliding block, Steel Ruler and spirit bubble on camera mounting platform, in camera
Mounting platform upper surface specular is provided with two chutes, and a sliding block is slidably fitted with each chute, is set on sliding block
There is camera mounting hole, Steel Ruler is arranged between two chutes on corresponding camera mounting platform upper surface location, two phases
Machine is connected with same host computer respectively, completes IMAQ, processing and the storage of two camera sync pulse jammings.
Moreover, the rotation platform is 360 ° of Plane Rotation platforms.
Moreover, it is hinged with handle on the tilt mount.
Moreover, spirit bubble is also embedded with the camera mounting platform.
A kind of operating procedure 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 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, static measurement experiment is then repeatedly done, is surveyed
Measure systematic error curve；
(2) deicing below wire more than placing device at 500mm, allowing camera to keep looking up posture, using sky as background,
Allow the length direction of camera mounting platform and wire to move towards vertical simultaneously, 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.
Moreover, step (1) in, the scaling method of the internal reference of camera and outer ginseng is：
Establish world coordinate system OWXWYWZW, each camera establishes camera coordinates system O respectivelyCXcYcZcAs origin, image is sat
Mark system oxy, image pixel coordinates system Ouv, obtain image coordinate system is with image pixel coordinates system relation：
Wherein dx,dyThe each actual physical size of pixel in the corresponding direction, camera coordinates system are closed with world coordinate system
It is to be：
Wherein R is spin matrix, and T is translation vector, is obtained by linear camera model：
Comprehensive above formula, the relation for obtaining image pixel coordinates system and world coordinate system are：
Two above-mentioned equations can be obtained for each camera, and simultaneous simultaneously can be to solve P using least square method
Point coordinates,
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,
Moreover, using MATLAB software programming capture programs on the host computer, two cameras consecutive image simultaneously is realized
Collection, storage, while need to carry out static error curved measurement by host computer：
In the range of camera about 500mm to 3000mm, move a target every 100mm and measure, repeat to survey
Amount 9 times.Using measured value at 500mm as error calculation zero point, the error curve measured every time is calculated, then to each measurement point
Average, calculate error curve, be expressed as：
Δsi=f (si)si=0,100,200 ... .2500
ΔsiFor the measurement error of respective distance.
Calculate starting point measured value and obtain average value, be designated as averA.
Moreover, the step (4) in processing data procedure Procedure be：Image rectification, image procossing, match point calculate, rail
Trace curve calculates.
Moreover, described image correction is the Coordinate Setting according to system, the basis matrix F=M of system11 -1[T2]×
R2M12, wherein, M11And M12The respectively internal reference of left and right camera, [T2]×For T2Antisymmetric matrix.For P1Point, it is in right figure
On polar curve equation be m=FuP,For P1Pixel coordinate in left image, P2Point one is positioned on straight line m.As a rule,
Due to reasons such as mechanical erections, m is oblique line.The system uses Fusiello method for correcting image, will by rotatable imaging plane
Polar curve correction is in a horizontal position, and its transformation for mula is：T=N2N1 -1, wherein N1For parameter before correction, N2Put down to redefine camera
Parameter behind face.After correction, polar curve is horizontal, i.e., for match point in image pixel coordinates system, ordinate is identical.
Moreover, described image processing and match point calculating process are：Wire is extracted using the method for binaryzation, meanwhile, knot
The method for closing morphologic filtering, removes the burr at wire edge and internal hole after extraction, in picture after the treatment
Wire edge is found out, using least square fitting wire center line equation, then utilizes polar curve and the intersection point of center line equation
Try to achieve match point.
Moreover, after the measured value of wire ice-shedding is calculated, error compensation is carried out, i.e., with the averA values
As starting point, compensated with error curve, in corresponding siPlace adds Δ si, non-integer position uses the method calculation error of interpolation
Offset.
Advantage of the present invention and good effect are：
The use of wire ice-shedding trajectory measurement device provided by the invention based on binocular vision technology, it is possible to achieve
Quick, the accurate, automatic measurement of wire ice-shedding wire track, on the one hand, the system uses biocular systems error compensation machine
System so that measurement result is more accurate；On the other hand, the system is dexterously matched using polar curve with the extraction of the straight-line intersection of wire two
Point so that matching result is more accurate, more efficient.
Wire ice-shedding trajectory measurement device provided by the invention based on binocular vision technology combines binocular vision
Technology, digital image processing techniques, computer software technology etc., advanced technology, there is good promotional value.
Brief description of the drawings
Fig. 1 is the structural representation of wire ice-shedding trajectory measurement device in the present invention；
Fig. 2 is each component layouts schematic diagram on the camera mounting platform of wire ice-shedding trajectory measurement device in the present invention
(vertical view)；
Fig. 3 is the tilt mount and machine mounting platform, handle in the present invention in wire ice-shedding trajectory measurement device
Attachment structure schematic diagram；
Fig. 4 is the wire ice-shedding trajectory measurement device operating procedure flow chart of the present invention；
Fig. 5 is the binocular vision technology schematic diagram that the wire ice-shedding trajectory measurement device of the present invention uses；
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
, it is not limited, it is impossible to which protection scope of the present invention is limited with this.
A kind of wire ice-shedding trajectory measurement device based on binocular vision technology, the device include support, two dresses
There are camera 1, the host computer 6 of adjustable zoom lens, support includes three telescopic legs 5, rotation platform 4, tilt mount 3, camera
Mounting platform 2, rotation platform bottom are supported by three telescopic legs, thus meet to be easy to regulation high while stability
Degree, to adapt to shooting adjustment needs, the rotation platform is 360 ° of Plane Rotation platforms, and the direction of 360 ° of camera can be supported to adjust
It is whole, tilt mount is installed at the top of rotation platform, the luffing angle adjustment of camera is achieved in, in use, on tilt mount top
Portion's level is hinged with camera mounting platform, and for the ease of operation, handle 12, the rotation of tilt mount are hinged with tilt mount
Only need to operate the handle with angle adjustment.
There are chute 8, sliding block 10, Steel Ruler 9 and spirit bubble 7 on camera mounting platform, in camera mounting platform upper surface
Specular is provided with two chutes, and a sliding block is slidably fitted with each chute, camera mounting hole 11 is provided with sliding block,
For installing camera, sliding block is along slide, and so as to adjust the baseline distance of biocular systems, the value of its baseline distance can pass through steel
Board foot is calculated, and Steel Ruler is arranged between two chutes on corresponding camera mounting platform upper surface location, in camera
Spirit bubble is also embedded with mounting platform, for indicating whether camera mounting platform is in horizontal level.
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 operating procedure 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 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, static measurement experiment is then repeatedly done, is surveyed
Measure systematic error curve；
(2) deicing below wire more than placing device at 500mm, allowing camera to keep looking up posture, using sky as background,
Allow the length direction of camera mounting platform and wire to move towards vertical simultaneously, 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 OWXWYWZW, each camera establishes camera coordinates system O respectivelyCXcYcZcAs origin, image is sat
Mark system oxy, image pixel coordinates system Ouv, obtain image coordinate system is with image pixel coordinates system relation：
Wherein dx,dyThe each actual physical size of pixel in the corresponding direction, camera coordinates system are closed with world coordinate system
It is to be：
Wherein R is spin matrix, and T is translation matrix, is obtained by linear camera model：
Comprehensive above formula, the relation for obtaining image pixel coordinates system and world coordinate system are：
Two above-mentioned equations can be obtained for each camera, and simultaneous simultaneously can be to solve P using least square method
Point coordinates,
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,
In image shoot process, MATLAB software programming capture programs are used on host computer, two cameras is realized while connects
Continuous IMAQ, storage, while need to carry out static error curved measurement by host computer：
In the range of camera about 500mm to 3000mm, move a target every 100mm and measure, repeat to survey
Amount 9 times.Using measured value at 500mm as error calculation zero point, the error curve measured every time is calculated, then to each measurement point
Average, calculate error curve, be expressed as：
Δsi=f (si)si=0,100,200 ... .2500
ΔsiFor the measurement error of respective distance.
Calculate starting point measured value and obtain average value, be designated as averA.
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, its
In, M11And M12The respectively internal reference of left and right camera, [T2]×For T2Antisymmetric matrix.For P1Point, its polar curve in right figure
Equation is m=FuP,For P1Pixel coordinate in left image, P2Point one is positioned on straight line m.As a rule, due to machinery
Reason, the m such as installation are oblique line.The system uses Fusiello method for correcting image, is corrected polar curve by rotatable imaging plane
It is in a horizontal position, its transformation for mula is：T=N2N1 -1, wherein N1For parameter before correction, N2To redefine the ginseng after camera plane
Number.After correction, polar curve is horizontal, i.e., for match point in image pixel coordinates system, ordinate is identical.
Above-mentioned image procossing and match point calculating process is：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.
After the measured value for calculating wire ice-shedding, error compensation is carried out, i.e., using the averA values as starting point, is used
Error curve compensates, in corresponding siPlace adds Δ si, non-integer position uses the method calculation error offset of interpolation.
Although disclosing embodiments of the invention and accompanying drawing for the purpose of illustration, those skilled in the art can manage
Solution：Do not departing from the present invention and spirit and scope of the appended claims in, it is various replace, change and modifications all be it is possible,
Therefore, the scope of the present invention is not limited to embodiment and accompanying drawing disclosure of that.
Claims (5)
- 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 OWXWYWZW, each camera establishes camera coordinates system O respectivelyCXcYcZcAs 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 dx,dyThe 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>&lsqb;</mo> <mi>N</mi> <mo>|</mo> <mi>n</mi> <mo>&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：Δsi=f (si)si=0,100,200 ... .2500ΔsiFor 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=FuP,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. 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. 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. 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. 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 siPlace adds Δ si, non-integer position uses the method calculation error offset of interpolation.
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| CN106595594B (en) * | 2016-11-18 | 2019-11-15 | 华南理工大学 | A kind of adjustable binocular vision sensing device and method |
| CN107545587B (en) * | 2017-09-26 | 2020-07-10 | 河北科技大学 | Round steel end face binocular vision positioning method based on main and auxiliary eyes |
| CN108288293A (en) * | 2018-01-17 | 2018-07-17 | 广东省海洋工程装备技术研究所 | A kind of scaling method based on line-structured light |
| CN108917617A (en) * | 2018-09-19 | 2018-11-30 | 贵州电网有限责任公司 | A method of for ice-melt operation field transmission line of electricity ice-shedding vision measurement |
| CN113918551B (en) * | 2021-10-12 | 2024-09-27 | 泰华智慧产业集团股份有限公司 | Positioning abnormal point identification method, system, medium and electronic equipment |
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