CN105115560A - Non-contact measurement method for cabin capacity - Google Patents
Non-contact measurement method for cabin capacity Download PDFInfo
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Abstract
The invention provides a non-contact measurement method and system for cabin capacity. According to the method, a linear array CCD camera and line-structure light are adopted for scanning a measured object cooperatively, then a scanned image is processed, and feature points of the image are extracted. A calculating method of deducing the feature points based on the optics triangle principle is used for calculating three-dimensional coordinates of the feature points and carrying out three-dimensional modeling, and then information about the cabin capacitance and the like is analyzed and calculated. According to the measurement method and system, the cabin capacitance can be measured fast and accurately in a non-contact mode, the measurement efficiency is improved, the working environment of workers is improved, and the problem that target matching is difficult in a binocular vision measurement method is avoided.
Description
Technical field
The present invention relates to a kind of non-contact measurement method of cabin volume of compartment, is a kind of cabin volume of compartment non-contact measurement method fast and accurately based on linear array CCD camera and the line-structured light projector particularly.
Background technology
Capacity refers to the quantity of the unit object that object or space can hold.The measurement of cabin volume of compartment is exactly the capacity being determined cabin by certain method and measurement mechanism, and namely cabin can hold the quantity of object.
For in the world/home trade contacts of the liquid goods in bulk of Shipping, the identification of liquid goods quantity is a major issue being related to each side interests.For military naval vessel, fuel oil, fresh water reserve message and its ballast sink-float situation affecting naval vessel are the important informations determining naval vessel sea keeping quality accurately.Therefore, from all angles, the accurate-metering of cabin capacity is all a very important and significant job.Conventional contact measurement method having according to design drawing calculating volume of compartment, adding up volume of compartment, chi apart from measuring with flowmeter.But these contact measurement methods exist a lot of problem, such as measuring accuracy is not high, measurement point is few, work under bad environment, measurement efficiency are low, Measuring Time is long.
From the situation of current research and development, the contactless high-precision measurement of cabin volume of compartment is following development trend.Non-cpntact measurement have measure cost low, measuring period is short, measuring accuracy advantages of higher.The non-contact measurement method of domestic and international research has the method such as laser ranging method, binocular vision method.At present, domestic and international normally used volume of compartment measuring method is geometric measurement method, namely on bulkhead, a monumented point is laid every certain level angle or distance, re-use the accurate coordinate that total powerstation obtains monumented point on each cross section, realize accurately measuring the segmentation of cabin, recycling the data obtained sets up cabin mathematical model, calculates cabin volume.Relative to the method adding up volume of compartment with flowmeter, this method does not need the injection of auxiliary liquid, only needs total powerstation to measure unique point, highly shortened Measuring Time, avoids liquid attachment phenomenon simultaneously.Meanwhile, obtained the three-dimensional coordinate of impact point by total powerstation, greatly can improve the accuracy of data.But this method measurement point is less, and be manual measurement and unrealized robotization.Institute of Surveying and Mapping of Wuhan University, on the basis of the method, starts cabin volume of compartment and automatically surveys quantifier elimination, devises a kind of cabin automatic measurement system based on total powerstation.The method is the same with the ultimate principle of traditional capacity measuring method based on total powerstation, just controls the equipment such as total powerstation by notebook computer, achieves robotization.Relative to traditional capacity measuring method, the method significantly reduces the labour intensity of operating personnel, improves operating accuracy and measures efficiency.
Visible detection method is the 3 d shape utilizing vision system to obtain cabin, then calculates the volume of cabin.Its basic skills is divided into passive vision mensuration and active vision mensuration.Passive vision mensuration refers in natural lighting situation, uses vision technique to obtain desired data.According to the difference using video camera number, monocular method, binocular method and many orders method can be divided into.Monocular vision detection method structure is simple, demarcation is also relatively simple, avoids the problem of binocular vision neutral body coupling difficulty simultaneously, but because the field range of measurement is little, and it is comparatively difficult to resolve three-dimensional information, so apply less in actual measurement.Binocular vision detection method principle is directly perceived, efficiency is high, cost compared with low, to measure field range large, therefore the research of people to the method is more, and application is also comparatively extensive, but the method also exists the problem of Stereo matching difficulty all the time.Three order methods on the basis of binocular method, increase a camera again to increase geometry constraint conditions, and then reduce the problem of binocular solid coupling difficulty, but the complicacy of the method specific implementation structure also result in measuring error to be become large, measures the problems such as efficiency reduction, so apply less in practice.
Measuring system of the present invention is single vision measurement system, this vision system employs new scaling method, solve the problem that the on-the-spot large ken demarcates difficulty, adopt new extraterrestrial target point calculation method simultaneously, the coordinate of impact point in world coordinate system can be calculated rapidly.Method structure of the present invention is simple, demarcation is also comparatively simple, avoids the problem of binocular vision detection method neutral body coupling difficulty simultaneously, has the advantages such as measuring accuracy is high, measuring speed is fast simultaneously.
Summary of the invention
For the non-cpntact measurement problem of cabin capacity, the invention provides a kind of non-contact measurement method of the cabin volume of compartment based on linear array CCD camera and the line-structured light projector, there is the problems such as Measuring Time is long, measuring accuracy is not high, poor working environment to solve existing measuring method.
The technical solution used in the present invention is as follows.
A non-contact measurement system for cabin volume of compartment, comprising:
Linear array CCD camera, is arranged on cradle head of two degrees of freedom;
The line-structured light projector, is arranged on single-degree-of-freedom The Cloud Terrace;
Two The Cloud Terraces are according to measurand actual conditions, separated by a distance, and distance is between the two exactly so-called parallax range; Described cradle head of two degrees of freedom and described single-degree-of-freedom The Cloud Terrace are controlled by FPGA, to realize synchronous scanning and continuous Real-time Collection;
This measuring system also comprises the analytical equipment using optical triangulation principle;
The intersection point of the photocentre of described linear array CCD camera, the photocentre of the described line-structured light projector and camera fields of view and line-structured light forms triangle; By the described line-structured light projector to measurand surface incident line structured light, striation 3-D view can be formed on measurand surface;
Described analytical equipment can utilize the described parallax range between the described line-structured light projector and described linear array CCD camera, and based on optical triangulation theory, the 3 d space coordinate of each point in measurand can be obtained according to the calculation method of extraterrestrial target point, and then three-dimensional reconstruction measurand form; Described analytical equipment can according to the measurand of rebuilding, and analytical calculation obtains cabin volume of compartment information.
Use a cabin volume of compartment non-contact measurement method for the measuring system described in above technical scheme, first this measuring method demarcates measuring system; Coordinate scanning measurand surface by linear array CCD camera and the line-structured light projector, and then obtain the image of measurand; The pixel coordinate of unique point is obtained by image processing techniques; Released the calculation method of unique point by optical triangulation theory, and then calculate the three-dimensional coordinate of unique point; Carry out three-dimensional modeling to cabin, analysis meter calculates the information such as cabin volume of compartment, and then generates correlation graph.The concrete steps of the method are as follows:
One, the described line-structured light projector is placed on rotatable single-degree-of-freedom The Cloud Terrace, described CCD camera is placed on rotatable on the cradle head of two degrees of freedom of pitching, and can maintaining a certain distance.We adopt the line-structured light projector to measurand incident line structured light, adopt line-scan digital camera as imageing sensor.Described cradle head of two degrees of freedom and described single-degree-of-freedom The Cloud Terrace are controlled by FPGA, to realize synchronous scanning and continuous Real-time Collection.
Two, measuring system is demarcated, set up world coordinate system O
w-X
wy
wz
w, and determine the parameter of linear array CCD camera and the parameter of line structure optical sensor.The demarcation of measuring system comprises the following steps:
1) world coordinate system O is set up
w-X
wy
wz
w.World coordinate system X
wthe positive dirction of axle and described line-structured light photocentre are equidirectional to the line direction of described linear array CCD camera photocentre, described world coordinate system Z
wthe positive dirction of axle perpendicular to surface level upwards, Y
wthe positive dirction of axle obtains according to the right-hand rule.
2) method according to two, the parameter of described linear array CCD camera comprises: camera focus f, figure principal point u
0, camera photocentre coordinate O
c=(X
ocy
ocz
oc) and camera light axial vector
The parameter of described line structure optical sensor comprises line-structured light photocentre coordinate O
1=(X
1y
1z
1) and the initial level angle θ of optical plane.The position of line-structured light photocentre in world coordinate system is determined by borderline 4 of line-structured light optical plane two, and the level angle that optical plane is initial.
Three, measurand is scanned, obtained the pixel coordinate of unique point by image processing techniques.The described line-structured light projector projects vertical line-structured light to measurand and forms striation.Line-scan digital camera each pitching angle, all can intersect at a point with line-structured light striation, and gather this point, until the striation in measurand is all gathered.Then, the The Cloud Terrace be connected with the line-structured light projector rotates an angle, repeats said process, thus completes the scanning to whole three-dimension curved surface.
The image that linear array CCD camera obtains only has one-row pixels, and forms the form of cross spider with line-structured light.By the algorithm of image processing techniques, extract the center of optical strip image, just can obtain the pixel coordinate of unique point.Such process is carried out to all unique points on three-dimension curved surface, thus obtains the pixel coordinate of all unique points of three-dimension curved surface.
Four, release the calculation method of unique point by optical triangulation theory, and calculate the 3 d space coordinate of unique point according to the pixel coordinate of the unique point of having tried to achieve, linear array CCD camera parameter, line-structured light parameter and unique point rotation angle parameter.
Due in this measuring system, line-scan digital camera is by pitching push-scanning image, so after camera rotation, the projection of optical axis in xoy plane is constant.The expression formula calculating described 3 d space coordinate is as follows:
Wherein, O
cand O
1be respectively line-scan digital camera photocentre and line-structured light photocentre; (X
ocy
ocz
oc) represent O
cworld coordinates; β represents line-structured light photocentre O
1to the vector of unique point P
with basic lineal vector
angle; β
0represent the level angle of line-structured light optical plane; α
3for the line of picture point and object point is vectorial
with basic lineal vector
angle;
for camera optical axis direction amount time initial
with the angle of surface level; δ is the angle step of line-scan digital camera pitching; α
1for the angle that object point and picture point line PP' and optical axis are formed in the projection of XOY plane; ψ is the imaging plane of line-scan digital camera and the angle of XOY plane.
Five, pass through the three-dimensional coordinate of obtained a large amount of unique points, carry out three-dimensional reconstruction to cabin, analysis meter calculates the information such as cabin volume of compartment, and then generates correlation graph.
The invention has the beneficial effects as follows: select high-resolution linear array CCD camera, adopt The Cloud Terrace control line array CCD camera and the line-structured light projector respectively, both coordinate scanning measurand, only take a luminous point at every turn, improve the resolution of system.Linear array CCD camera and the line-structured light projector are arranged on two The Cloud Terraces respectively, can increase the measurement range of measuring system.Meanwhile, control The Cloud Terrace by FPGA, the accurate fit of linear array CCD camera and the line-structured light projector can be realized, can synchronous scanning and continuous acquisition data.This measuring system can avoid the problem of object matching difficulty in Binocular vision photogrammetry method.By closely cooperating of high speed linear array CCD video camera and the line-structured light projector, gather image and resolve the 3 d space coordinate obtaining a large amount of measurand, then by three-dimensional reconstruction, quick, accurate, the non-cpntact measurement of cabin volume of compartment can be realized.
Accompanying drawing explanation
Fig. 1 is cabin volume of compartment Quick Measurement platform schematic diagram;
Fig. 2 is X measurand being put P
pcoordinate and Y
pcoordinate resolve schematic diagram
Fig. 3 is Z measurand being put P
pcoordinate resolve schematic diagram
In figure, the implication of each mark is as follows:
In Fig. 1: 1-Two-degree-of-freedohigh-precision high-precision The Cloud Terrace; 2-single-degree-of-freedom high precision The Cloud Terrace;
3-line-structured light projector; The field range of 4-line-structured light; The intersection point in 5-line-structured light and the linear array CCD camera visual field, i.e. image acquisition point; After 6-linear array CCD camera pitching angle, the intersection point of line-structured light and camera fields of view; 7-tested three-dimension curved surface; The field range of 8-linear array CCD camera; 9-linear array CCD camera.
In Fig. 2: O
cand O
lbe respectively linear array CCD camera photocentre and line-structured light photocentre, P is certain point in space, and P ' is the imaging point of some P in linear array CCD camera in space, and u0 is figure principal point; α
1for optical axis vector
with object point and picture point line
angle, α
2for basic lineal vector
with optical axis vector
angle, α
3for basic lineal vector
with object point picture point line vector
angle, β be structured light be concerned about O
lto the vector of space mid point P
with basic lineal vector
angle, β
1for basic lineal vector
with the angle of X-axis positive dirction, β
0for the level angle of structured light optical plane corresponding to detected space point P, γ
1for Δ O
co
lthe drift angle of P, γ
2for structured light light O
lthe angle of P and Y-axis, γ
3for object point and the line PP ' of picture point and the angle of Y-axis.
In Fig. 3: O
cfor linear array CCD camera photocentre, P is certain point in space, and M is the subpoint of some P in XOY plane in space, N be P to
do the intersection point that vertical line is formed, Ν ' is the subpoint of N in XOY plane;
for the optical axis vector of linear array CCD camera;
for linear array CCD camera optical axis vector time initial
with the angle of surface level, α
1for the angle that object point and picture point line PP' and optical axis are formed in the projection of XOY plane, ψ is the imaging plane of camera and the angle of XOY plane.
Embodiment
Specific embodiment of the invention process is explained below in conjunction with Figure of description:
A kind of cabin volume of compartment Quick Measurement platform is as shown in Figure 1: linear array CCD camera 9 is arranged on to be had on the The Cloud Terrace 1 of two degree of freedom, and the line-structured light projector 3 is arranged on to be had on the The Cloud Terrace 2 of one degree of freedom.Two The Cloud Terraces are according to measurand actual conditions, separated by a distance, and distance is between the two exactly so-called parallax range.Parallax range will carry out size design according to measurand actual conditions, and the size of its distance has certain influence to measuring accuracy.
The approach application optical triangulation principle of this measuring system, the intersection point 5 of the photocentre of linear array CCD camera 9, the photocentre of the line-structured light projector 3 and the line-scan digital camera visual field and line-structured light forms triangle.By the line-structured light projector 3 to measurand surface incident line structured light, form striation 3-D view on measurand surface.Utilize the parallax range between the line-structured light projector 3 and linear array CCD camera 9, and based on optical triangulation theory, the 3 d space coordinate of numerous point in measurand just can be obtained according to the calculation method of extraterrestrial target point, and then three-dimensional reconstruction measurand form.Finally according to the measurand of rebuilding, analytical calculation obtains the information such as cabin volume of compartment, and then generates correlation graph.
The course of work of whole measuring system device comprises three parts: the demarcation of measuring system, scanning survey and resolve spatial point coordinate, three-dimensional reconstruction calculate the information such as volume of compartment.
One, the demarcation of measuring system
The demarcation of measuring system is exactly that the three dimensional space coordinate for follow-up measurement target resolves prepares in order to unified references object.Measuring system is demarcated and is comprised the demarcation of linear array CCD camera parameter and the demarcation of line-structured light parameter.Calibration process is as follows:
1. set up world coordinate system O
w-X
wy
wz
w
World coordinate system X
wthe positive dirction of axle and described line-structured light photocentre are equidirectional to the line direction of described linear array CCD camera photocentre, described world coordinate system Z
wthe positive dirction of axle perpendicular to surface level upwards, world coordinate system Y
waxle positive dirction is by world coordinate system X
waxle and Z
waxle obtains according to the right-hand rule.
2. determine the inside and outside parameter of linear array CCD camera
By the demarcation to linear array CCD camera inside and outside parameter, obtain camera photocentre O
ccoordinate in world coordinate system is (X
ocy
ocz
oc), camera light axial vector
vector under world coordinate system is (lmn), the focal distance f of camera and figure principal point u
0.
3. determine line-structured light photocentre coordinate and optical plane initial level angle
By borderline 4 the calibration line structured light photocentre O of line-structured light optical plane two
1=(X
1y
1z
1) coordinate in world coordinate system, and the initial level angle θ of line-structured light optical plane.
Two, scanning survey and resolve spatial point coordinate
Scanning survey and to resolve spatial point coordinate be exactly obtain the general image of measurand by scanning, then obtained the pixel coordinate of all unique points in measurand by image processing techniques, then calculate the volume coordinate of each scanning unique point in measurand by optical triangulation theory.
Scanning survey and resolve the concrete steps of spatial point coordinate:
Step 1: the line-structured light projector forms striation to the line-structured light that the projection of measurand surface is vertical, and camera fields of view and line-structured light striation give a point mutually, catch the image of this point.
Step 2: linear array CCD camera each pitching angle delta γ, camera fields of view all can intersect at a point with line-structured light striation, and gathers this point.Camera is after last intersection point having gathered camera fields of view and striation, and initial position got back to by camera, prepares to scan next time.
Step 3: The Cloud Terrace drives the line-structured light projector to rotate an angle delta β, form another one striation on tested cabin volume of compartment surface;
Step 4: camera starts to gather new striation, repeats step 2;
Step 5: repeat step 3 and step 4.Scanned by the cooperation of linear array CCD camera and structured light projector, complete the scanning to whole cabin volume of compartment surface.
Step 6: the image of scanning is processed, resolves the three dimensional space coordinate of unique point.
Step 6 comprises following process:
(1) extraction of image characteristic point
Linear array CCD camera is taken the image obtained and is only had one-row pixels under linear array pattern, and is formed with line-structured light and intersect.Extract the optical losses on image by image processing algorithm, the position of optical losses is exactly the position of required unique point in the image coordinate system in units of pixel.
(2) three dimensional space coordinate of unique point is calculated
According to optical triangulation principle, demarcated the line-scan digital camera focal distance f, the figure principal point u that obtain by measuring system
0, line-scan digital camera photocentre coordinate O
c=(X
ocy
ocz
oc), line-scan digital camera optical axis vector
With line-structured light photocentre coordinate O
1=(X
1y
1z
1), the initial level angle θ of line-structured light optical plane, and the anglec of rotation of the camera luffing angle of photoelectric code disk record on The Cloud Terrace and the corresponding line-structured light projector.Then the expression formula of the three-dimensional coordinate of computer memory point P is as follows:
Wherein, all angles are with reference to spatial point calculating coordinate model schematic Fig. 2 and Fig. 3.
Three, three-dimensional reconstruction calculate the information such as volume of compartment
Three-dimensional reconstruction to calculate the information such as volume of compartment be exactly pass through three-dimensional coordinate datas a large amount of in obtained measurand, adopt numerical computation method to carry out three-dimensional reconstruction to cabin, thus analysis meter calculates the data such as the capacity of cabin, and then generates correlation graph.
Above-described embodiment, the just one of the present invention's more preferably embodiment, the change that those skilled in the art carries out within the scope of technical solution of the present invention and replacing all should be included in protection scope of the present invention.
Claims (8)
1. a non-contact measurement system for cabin volume of compartment, comprising:
Linear array CCD camera (9), is arranged on cradle head of two degrees of freedom (1);
The line-structured light projector (3), is arranged on single-degree-of-freedom The Cloud Terrace (2);
Two The Cloud Terraces are according to measurand actual conditions, separated by a distance, and distance is between the two exactly so-called parallax range; Described cradle head of two degrees of freedom and described single-degree-of-freedom The Cloud Terrace are controlled by FPGA, to realize synchronous scanning and continuous Real-time Collection;
This measuring system also comprises the analytical equipment using optical triangulation principle;
The intersection point (5) of the photocentre of described linear array CCD camera (9), the photocentre of the described line-structured light projector (3) and camera fields of view and line-structured light forms triangle; By the described line-structured light projector (3) to measurand surface incident line structured light, striation 3-D view can be formed on measurand surface;
Described analytical equipment can utilize the described parallax range between the described line-structured light projector (3) and described linear array CCD camera (9), and based on optical triangulation theory, the 3 d space coordinate of each point in measurand can be obtained according to the calculation method of extraterrestrial target point, and then three-dimensional reconstruction measurand form; Described analytical equipment can according to the measurand of rebuilding, and analytical calculation obtains cabin volume of compartment information.
2. use a cabin volume of compartment non-contact measurement method for the measuring system described in claim 1, it is characterized in that, this measuring method comprises the following steps:
Step 1, demarcates measuring system, sets up world coordinate system O
w-X
wy
wz
w, and determine the parameter of linear array CCD camera and the parameter of line structure optical sensor;
Step 2, coordinates scanning measurand surface by linear array CCD camera and the line-structured light projector, and then obtains the image of measurand;
Step 3, obtains the pixel coordinate of unique point by image processing techniques;
Step 4, is released the calculation method of unique point, and then calculates the three-dimensional coordinate of unique point by optical triangulation theory;
Step 5, carries out three-dimensional modeling to cabin, and analysis meter calculates cabin volume of compartment information.
3. method according to claim 2, is characterized in that, the described line-structured light projector is placed on rotatable single-degree-of-freedom The Cloud Terrace; Described linear array CCD camera is placed on rotatable on the cradle head of two degrees of freedom of pitching, and can maintaining a certain distance; Adopt the line-structured light projector to measurand incident line structured light, adopt linear array CCD camera as imageing sensor; Described cradle head of two degrees of freedom and described single-degree-of-freedom The Cloud Terrace are controlled by FPGA, to realize synchronous scanning and continuous Real-time Collection.
4. method according to claim 2, is characterized in that, described step 1 comprises further:
Step 1.1, sets up world coordinate system O
w-X
wy
wz
w; The X of described world coordinate system
wthe positive dirction of axle and described line-structured light photocentre are the Z of equidirectional, described world coordinate system to the line direction of described linear array CCD camera photocentre
wthe positive dirction of axle perpendicular to surface level upwards, Y
wthe positive dirction of axle obtains according to the right-hand rule;
Step 1.2, determines the parameter of described linear array CCD camera, comprising: camera focus f, figure principal point u
0, camera photocentre coordinate O
c=(X
ocy
ocz
oc) and camera light axial vector
Step 1.3, determines the parameter of described line structure optical sensor, comprises line structure optical sensor photocentre coordinate O
l=(X
ly
lz
l) and the initial level angle θ of optical plane;
Step 1.4, determines the position of structured light photocentre in world coordinate system by borderline 4 of structured light optical plane two, and the level angle that optical plane is initial.
5. method according to claim 2, is characterized in that, described step 2 comprises further:
Step 2.1, makes the described line-structured light projector project vertical line-structured light to measurand and forms striation;
Step 2.2, line-scan digital camera each pitching angle, intersects at a point with line-structured light striation, and gathers this point, and repeated acquisition is until the striation in measurand is all gathered;
Step 2.3, makes the The Cloud Terrace be connected with the line-structured light projector rotate an angle, repeats the process of above-mentioned steps 2.2 and 2.3, thus completes the scanning to whole three-dimension curved surface.
6. method according to claim 2, is characterized in that, described step 3, by image processing techniques, obtains the pixel coordinate of whole each unique point of three-dimension curved surface.
7. method according to claim 2, it is characterized in that, described step 4 releases the calculation method of unique point by optical triangulation theory, and calculates the 3 d space coordinate of unique point according to the pixel coordinate of the unique point of having tried to achieve, linear array CCD camera parameter, line-structured light parameter and unique point rotation angle parameter;
Described CCD line-scan digital camera is by pitching push-scanning image, so after camera rotation, the projection of optical axis in xoy plane is constant;
The expression formula calculating described 3 d space coordinate is as follows:
Wherein, O
cand O
lbe respectively line-scan digital camera photocentre and line-structured light photocentre; (X
ocy
ocz
oc) represent O
cworld coordinates; β represents line-structured light photocentre O
lto the vector of unique point P
with basic lineal vector
angle; β
0represent the level angle of line-structured light optical plane; α
3for the line of picture point and object point is vectorial
with basic lineal vector
angle;
for line-scan digital camera optical axis vector time initial
with the angle of surface level; δ is the angle step of line-scan digital camera pitching; α
1for the angle that object point and picture point line PP' and optical axis are formed in the projection of XOY plane; ψ is the imaging plane of camera and the angle of XOY plane.
8. method according to claim 2, is characterized in that, described step 5 passes through the three-dimensional coordinate of obtained a large amount of unique points, carries out three-dimensional reconstruction to cabin, and analysis meter calculates the information such as cabin volume of compartment, and then generates correlation graph.
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