CN105783770A - Method for measuring ice shaped contour based on line structured light - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/2433—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring outlines by shadow casting
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Abstract
The invention discloses a method for measuring ice shape contour based on line structured light. The method is used for measuring icing ice shape contour in the course of icing wind tunnel physical simulation. The method includes the following steps: using a LM-BP neural network to implement system calibration, training a LM-BP network model which obtains the coordinate of calibration template feature of an image coordinate mapping to a laser plane; through projecting line structured light to an ice shaped surface, regulating the ice shape contour surface to obtain distortion laser light strips; uses line structured light imaging processing, obtaining the image coordinate of a laser line central line; using laser line core central line image coordinate, through the well trained LM-BP network model to obtain actual labor cost is explicitly reduced, and can also provides efficiency and measuring precision.
Description
Technical field
The present invention relates to noncontact profilometry field, relate to computer vision, computer graphics, laser instrument with
And the correlation technique such as sensor, refer in particular to a kind of ice shape contour measuring method based on line-structured light.
Background technology
When aircraft flies through clouds, often at aircraft surfaces, icing phenomenon occurs.According to statistics, about 9% fly
Act therefore caused by icing.Plane wing surfaces icing can cause aerofoil profiles to change, and causes under resistance increase, lift
Fall, critical angle of attack reduce and operability and the deterioration of stability, and these easily cause aviation accident, seriously threaten and fly
Row safety.To this end, the most many researchers launch the research to wing performance impact that freezes, common research method is to calculate
Machine numerical simulation and icing wind tunnel physical analogy.
During icing wind tunnel physical analogy, a very important experiment parameter freezes ice shape profile exactly.At present,
The hot skill in using a kitchen knife in cookery of main employing carries out icing ice shape profile measurement.The basic step that the hot skill in using a kitchen knife in cookery is measured is: by making in advance,
After the Metallic card heating can alignd with model, inserting in ice cube, sheet metal heat merges ice cube, then inserts on card and sits
Millimeter paper, portrays ice shape profile with pencil or pen, then calculates two-dimensional silhouette by craft or image measuring method, obtain ice shape wheel
Wide.The shortcoming of the hot skill in using a kitchen knife in cookery is: when portraying icing profile with pencil or pen, easily touches off little ice pellets, destroys the outside of ice
Shape, additionally, during hand drawing, there is certain interval between nib and ice cube outer surface, easily produces bigger measurement by mistake
Difference.
To this end, the present invention proposes to use line-structured light measurement technology, it is used for the ice shape profile measurement that freezes.The method by
Ice shape surface projection line-structured light, is modulated ice shape contour surface, obtains the laser striation that distorts, then clapped by video camera
Taking the photograph distortion laser striation, calculating distortion laser striation, in laser plane internal coordinate, utilizes laser rays center line image coordinate, passes through
Train LM-BP network model, obtain ice shape actual measuring three-dimensional profile value.The present invention is with non-contact measurement, real
Now icing ice shape high-acruracy survey.Comparing the currently used hot skill in using a kitchen knife in cookery, the present invention can significantly reduce cost of labor, it is provided that efficiency and
Certainty of measurement.
Summary of the invention
The present invention is not enough in order to overcome the hot skill in using a kitchen knife in cookery to carry out ice shape profile measurement, propose a kind of in hgher efficiency, precision is higher,
Destructive less ice shape contour measuring method.The method by projecting line-structured light to ice shape surface, to ice shape contour surface
It is modulated, obtains the laser striation that distorts, then with video camera shooting distortion laser striation, by image processing algorithm, will swash
The laser striation that light device impinges upon in ice shape extracts, and calculates laser light stripe centric line coordinate, utilizes in calibration process and trains
The good mapping model between image coordinate and laser plane coordinate, using defeated as neutral net of laser light stripe centric line coordinate
Enter, map the LM-BP network model of laser plane coordinate according to image coordinate, calculate distortion laser striation and sit in laser plane
Mark, and then obtain ice shape profile value.
The present invention carries out the step of ice shape profile measurement and includes: S1: measure system calibrating；S2: measure IMAQ；S3:
Line-structured light image procossing；S4: ice shape TP is measured.
In step sl, measure system calibrating and use LM-BP neural network algorithm to demarcate, be used for calculating image coordinatePlate features point coordinates is demarcated on laser planeMapping model, they meet relational expression:
。
Concrete calibration process is as follows.
S11: scaling board uses two-dimensional plate, and X-comers known to two-dimensional coordinate to be had on surface plate, with them
Two-dimensional coordinate conduct。
S12: scaling board is placed on the position of the planes overlapping at line place light emitted with laser instrument, then opens two and take the photograph
Camera, collects image.
Wherein, scaling board overlaps with laser plane and includes following sub-step.
S121: arranging more than 4 silk threads, silk thread placement location intersects with laser irradiated plane, as it is shown on figure 3, black adds
Thick dashed line is laser plane, and solid black lines is scaling board plane, and black dotted lines is four silk threads, allows laser be radiated on silk thread, 4
Individual round dot is the intersection point (this can be with manual markings) of laser plane and silk thread.
S122: keep silk thread motionless, two-dimensional calibrations board plane is alignd, so with these four position of intersecting point of silk thread of mark
It is ensured that laser plane and scaling board planes overlapping, then utilize the non-linear mapping capability of neutral net, realize shooting
The demarcation of machine；So scaling board plane just overlaps with laser plane.
S13: by Harris operator extraction characteristic point, obtain left and right two width characteristic point images.
S14: solve the characteristic point coordinate of two width images with Forstner operator.
S15: the whole characteristic points that will obtainBeing divided into before and after's two parts, a part is used for training, and another part is used
In detection, wherein, front 3/4 stack features point, as the input of LM-BP neutral net, correspondingly chooses known plane coordinatesFront 3/4 coordinate points (i.e. laser plane coordinate) export as network, other 1/4 for checking the error of network, instruction
Practice neutral net until network reaches requirement.
Wherein, LM_BP neutral net demarcation flow process is as follows.
S151: take out a certain sample from training set, in information input network.
S152: after successively being processed by each internodal connection forward, obtain the actual output of neutral net.
S153: calculate the error of the actual output of LM-BP neutral net and desired output.
S154: each layer before error is the most reversely back to, and by certain principle, error signal is loaded into connection weight
In value, the weights that connect of whole LM-BP neutral net are made to convert to the direction that error reduces.
S155: each input and output sample in training set is repeated above step, until whole training sample set
Till error is reduced to meet the requirements.
S156: as the optimization training algorithm set up on the basis of BP neural network algorithm, LM algorithm is Gauss-Newton
A kind of Optimal improvements form of method, generally speaking the global property of its existing gradient descent method, also has the office of gauss-newton method
Portion's characteristic.
S157: have according to Gauss-Newton rule.
。
LM algorithm is had.
。
LM algorithm there is provided a kind of method of the speed of Newton method and the convergence of gradient descent method, and ratio is under original gradient
The convergence rate of fall method improves tens times of even hundreds of times, both ensure that algorithm can restrain the speed that in turn ensure that algorithm
Degree.
In step S2, IMAQ flow process is: required hardware device comprises video camera, camera lens, optical filter, laser instrument, work
Control plate, support, install equipment to tested ice shape；Line-structured light is projected to ice shape surface, to ice shape profile by laser instrument
Surface is modulated, and obtains the laser striation that distorts, utilizes the ice shape line-structured light image that camera acquisition laser instrument projects.
The centerline construction light image of step S3 processes for extracting the centre coordinate of laser rays in image, and this step comprises following
Sub-step.
S31: use medium filtering that image is carried out denoising.
S32: image after denoising is carried out binary conversion treatment, removes intensive noise.
S33: use target skeleton extraction algorithm, extracts laser center line.
S34: use the imcontour function in MatLab to calculate laser center line image coordinate。
Step S4: ice shape TP is measured, by laser center line image coordinateIt is input to the nerve trained
In network, the output of network is then laser plane internal coordinate, obtained the TP value of ice shape.
The line-structured light mensuration that the present invention proposes utilizes video camera imaging principle, by the coordinate meter of point on the plane of delineation
Calculate the coordinate of point on real world midplane, measure ice shape profile based on this.Come by the method for this Planar Mapping
Have only to a video camera when measuring object one side profile, use two video cameras just can measure the integrity profile of object,
Calculating during measurement is also simple than triangulation method, uses two line-structured light conllinear to dispose, i.e. two laser instruments of regulation make
Two laser planes in a plane, as it is shown on figure 3, scaling board plane is overlapped with laser plane with tuft method, then
Two video cameras gather image simultaneously, use LM-BP neutral net to demarcate, complete the unification of calibration system coordinate system.This
Sample is effectively prevented from blocking the ice shape profile measurement data caused and loses problem.
Present invention have the advantages that.
1, the ice shape contour measuring method that the present invention proposes is non-contact measurement, can effectively avoid the hot skill in using a kitchen knife in cookery to measure,
It is easily broken ice cube micro-structure, it is impossible to the shortcoming obtaining accurate measurement data.
2, the present invention uses neutral net to be used for measuring system calibrating, in camera calibration, owing to camera lens is deposited
At multiple nonlinear distortion, traditional scaling method needs to set up complicated Mathematical Modeling and describes, thus adds system
Complexity and unstability, neutral net can preferably process nonlinear problem, uses simple, and operation efficiency is high, by hidden
Formula is demarcated and is processed the mapping relations between the three-dimensional point in X-Y scheme picture point and world coordinate system, makes system without complexity
Camera interior and exterior parameter is demarcated, it is possible to obtain the three-dimensional information of object.
3, the present invention uses two line-structured light conllinear to dispose, and scaling board plane is overlapped with laser plane with tuft method,
Disposably complete the unification of whole calibration system coordinate system, can effectively measure the integrity profile of ice shape, avoid blocking causing simultaneously
Ice shape profile measurement data lose problem.
Accompanying drawing explanation
Fig. 1 is that line-structured light measures system schematic.
Fig. 2 is system calibrating flow chart.
Fig. 3 is that scaling board overlaps with laser plane conceptual scheme.
Fig. 4 is IMAQ flow chart.
Fig. 5 is line-structured light process chart.
Fig. 6 is BP neural network structure figure.
Detailed description of the invention
Further illustrate technical scheme below in conjunction with the accompanying drawings, but the content protected of the present invention be not limited to
Lower described.
Line-structured light measures system as shown in Figure 1: comprising two cmos cameras using USB interface, two wavelength are
The red laser of 660mn, in order to obtain more preferable measurement effect, filters off the interference of impurity light, fills one piece of optical filter, this
The line-structured light of bright design is measured system and is utilized the image-forming principle of video camera, calculates reality by the coordinate of point on the plane of delineation
On world's midplane, the coordinate of point, measures ice shape profile based on this.Object is measured by the method for this Planar Mapping
Have only to a video camera during unilateral profile, use two video cameras just can measure the integrity profile of object, during measurement
Calculating also simple than triangulation method, this method can be prevented effectively from blocks the ice shape profile measurement data that causes and loses and ask
Topic.
A kind of ice shape measuring method profile measurement based on line-structured light comprises the steps of S1, utilizes LM-BP neural
Network realizes system calibrating, and training obtains image coordinate and reflects to the LM-BP network of demarcation plate features point coordinates in laser plane
Penetrate model；S2, utilizes the ice shape line-structured light image that camera acquisition laser instrument projects；S3, by line-structured light image procossing
Obtain laser rays center line image coordinate；S4, utilizes laser rays center line image coordinate, by having trained LM-BP network
Model, obtains the actual measuring three-dimensional profile of ice shape.
S1 demarcate flow chart as in figure 2 it is shown, scaling method be to use the arrangements of two line-structured light conllinear, with silk
Scaling board plane is overlapped by collimation method with laser plane, and two video cameras gather image simultaneously, extracts scaling board characteristic point, then at the beginning of
Beginningization neutral net, training neutral net, complete the demarcation of LM-BP neutral net, make the unification of whole calibration system coordinate system.
Gather two width figures to design like this and eliminate the operation to calibration, enormously simplify the use flow process of system, make whole
Individual system more convenient to operate.
Concrete scaling scheme is as follows.
S11: scaling board uses two-dimensional plate, and X-comers known to two-dimensional coordinate to be had on surface plate, with them
Two-dimensional coordinate conduct。
S12: scaling board is placed on the position of the planes overlapping at line place light emitted with laser instrument, then opens two and take the photograph
Camera, collects image.
Wherein, scaling board overlaps with laser plane and sub-step can be used as follows.
S121: arranging more than 4 silk threads, silk thread placement location intersects with laser irradiated plane, as it is shown on figure 3, black adds
Thick dashed line is laser plane, and solid black lines is scaling board plane, and black dotted lines is four silk threads, allows laser be radiated on silk thread, 4
Individual round dot is the intersection point (this can be with manual markings) of laser plane and silk thread.
S122: keep silk thread motionless, two-dimensional calibrations board plane is alignd, so with these four position of intersecting point of silk thread of mark
It is ensured that laser plane and scaling board planes overlapping, then utilize the non-linear mapping capability of neutral net, realize shooting
The demarcation of machine；So scaling board plane just overlaps with laser plane.
S13: by Harris operator extraction characteristic point, obtain left and right two width characteristic point images.
S14: solve the characteristic point coordinate of two width images with Forstner operator.
S15: the whole characteristic points that will obtainBeing divided into before and after's two parts, a part is used for training, and another part is used
In detection, as shown in Figure 6, its learning rules are to use steepest descent method to the structure chart of neutral net, are come by backpropagation
Constantly adjusting weights and the threshold value of network, the error sum of squares making network is minimum, and wherein, front 3/4 stack features point is as LM-BP god
Through the input of network, correspondingly choose known plane coordinatesFront 3/4 coordinate points (i.e. laser plane coordinate) as net
Network exports, and additionally rear 1/4 for checking the error of network, and training neutral net is until network reaches requirement.
Further, the IMAQ flow process of step S2 as shown in Figure 4, required hardware device comprise video camera, camera lens,
Optical filter, laser instrument, industrial control board, support, install equipment to tested ice shape；Tied to the ice shape surface incident line by laser instrument
Structure light, utilizes camera acquisition laser instrument to be incident upon in ice shape the laser rays of distortion.Wherein IMAQ utilizes video camera
Driver is developed, and uses MFC interface be acquired and show.The software run in system is all based on PC, for
Facilitate the data to transmit us and use the video camera of USB interface.
The purpose of step S3 line-structured light image procossing is to obtain the coordinate of laser rays center line in image, flow chart such as figure
Shown in 5, this step comprises following sub-step.
S31: first image is carried out denoising, the noise met in the picture is all the signal that some intensity are random, we
Should remove the noise around laser rays, retain the details aspect of laser rays again, therefore we use medium filtering to go
Make an uproar.
S32: the intensive noise around laser rays may not be removed completely, but brightness can weaken, further to image
Carry out binary conversion treatment, remove the most intensive noise.
S33: use target skeleton extraction algorithm, extracts the laser rays center line of image, the image after being refined.
S34: use the imcontour function in MatLab calculate on laser rays center line coordinate a little, image is pre-
Processing to use in all algorithm MatLab in step all has function to support.
After obtaining the coordinate of laser rays center line, it is possible to calculate the TP of object, by laser rays center line
Image coordinate is input in the neutral net trained determine between center line image coordinate and corresponding ice shape three-dimensional coordinate
Corresponding relation, what neural network model finally exported is then the D coordinates value of actual ice shape profile.
Those of ordinary skill in the art it will be appreciated that embodiment described here be to aid in reader understanding this
Bright know-why, it is understood that protection scope of the present invention be not limited to such special statement and embodiment.Every
Scope is both fallen within without departing from equivalence or the amendment completed under spirit disclosed in this invention.
Claims (3)
1. an ice shape contour measuring method based on line-structured light, it is characterised in that comprise the steps of S1: measure system
System is demarcated；S2: measure IMAQ；S3: line-structured light image procossing；S4: ice shape TP is measured；
In step sl, measure system calibrating and use LM-BP neutral net standardization calibrating camera and laser plane, calculate
Image coordinatePlate features point coordinates is demarcated on laser planeMapping model, they meet relational expression:；
Concrete calibration process is as follows:
1): scaling board uses two-dimensional plate, and X-comers known to two-dimensional coordinate to be had on surface plate, with their two dimension
Coordinate conduct；
2): with tuft method, scaling board plane is overlapped with laser plane, scaling board is placed on line light emitted with laser instrument institute
The position of planes overlapping, open two video cameras, collect image；
3): by Harris operator extraction characteristic point, obtain left and right two width characteristic point images；
4): solve the characteristic point coordinate of two width images with Forstner operator；
5): the whole characteristic points that will obtainBeing divided into before and after's two parts, a part is used for training, and another part is used for detecting,
Wherein, front 3/4 stack features point, as the input of LM-BP neutral net, correspondingly chooses known plane coordinatesFront 3/
4 coordinate points (i.e. laser plane coordinate) export as network, and additionally rear 1/4 for checking the error of network, trains neutral net
Until network reaches requirement；
Wherein, LM-BP neutral net demarcation flow process is as follows:
1): take out a certain sample from training set, in information input network；
2): after successively being processed by each internodal connection forward, the actual output of neutral net is obtained；
3): calculate the error of the actual output of network and desired output；
4): each layer before error is the most reversely back to, and by certain principle, error signal is loaded on connection weights, makes
The weights that connect of whole neutral net convert to the direction that error reduces；
5): each input and output sample in training set is repeated above step, until the error of whole training sample set subtracts
Little to meeting the requirements；
6): as the optimization training algorithm set up on the basis of BP neural network algorithm, LM algorithm is the one of gauss-newton method
Planting Optimal improvements form, generally speaking the global property of its existing gradient descent method, also has height
The local characteristics of this Newton method；
7): have according to Gauss-Newton rule:
LM algorithm is had:
LM algorithm there is provided a kind of method of the speed of Newton method and the convergence of gradient descent method, than original gradient descent method
Convergence rate improve tens times of even hundreds of times, both ensure that algorithm can restrain the speed that in turn ensure that algorithm；
In step S2, IMAQ flow process is: required hardware device comprises video camera, camera lens, optical filter, laser instrument, industry control
Plate, support, install equipment to tested ice shape；Line-structured light is projected to ice shape surface, to ice shape profile table by laser instrument
Face is modulated, and obtains the laser striation that distorts, utilizes the ice shape line-structured light image that camera acquisition laser instrument projects；
The centerline construction light image of step S3 processes, and for extracting the centre coordinate of laser rays in image, this step comprises following son
Step:
1): use medium filtering that image is carried out denoising；
2): image after denoising is carried out binary conversion treatment, intensive noise is removed；
3): use target skeleton extraction algorithm, laser center line is extracted；
4): use the imcontour function in MatLab to calculate laser center line image coordinate；
Step S4: ice shape TP is measured, by laser center line image coordinateIt is input to the neutral net trained
In, the output of network is then laser plane internal coordinate, obtained the TP value of ice shape.
Ice shape contour measuring method the most according to claim 1, it is characterised in that use multiple line-structured light measurement apparatus
Realize the different angles perfect measurement to ice shape profile, use two LASER Light Sources, two video cameras to realize here.
Ice shape contour measuring method the most according to claim 1, it is characterised in that regulate two laser instruments and make two to swash
Optical plane is in a plane, and after scaling board plane being overlapped with laser plane with tuft method, two video cameras gather figure simultaneously
Picture, uses LM-BP neutral net to demarcate, completes two video cameras and the unification of two laser instrument calibration system coordinate systems.
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| 罗艺: "基于线结构光的钢轨轨形测量系统的设计与实现", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
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