CN106403901B - A kind of buoy attitude measuring and method - Google Patents
A kind of buoy attitude measuring and method Download PDFInfo
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- CN106403901B CN106403901B CN201610785924.6A CN201610785924A CN106403901B CN 106403901 B CN106403901 B CN 106403901B CN 201610785924 A CN201610785924 A CN 201610785924A CN 106403901 B CN106403901 B CN 106403901B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/30—Interpretation of pictures by triangulation
- G01C11/32—Radial triangulation
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Abstract
The present invention discloses a kind of buoy attitude measuring, comprising: configures the buoy marker in buoy outer surface to be measured；The first image acquisition device and the second image acquisition device of Image Acquisition are carried out to buoy marker；Data processing module, it for identification and determines the position difference information of buoy marker in the first image information and the second image information of the first image acquisition device and the second image acquisition device institute synchronous acquisition, and determines the buoy attitude parameter of buoy to be measured according to position difference parameter.The embodiment of the present invention also provides a kind of buoy attitude measurement method.Measuring device and method provided by the embodiment of the present invention have the advantages that the measurement data result of easy to operate, low in cost and determined high precision, it is contemplated that having broad application prospects in buoy development and buoy dynamic property detection field.
Description
Technical field
The present embodiments relate to ocean observation technology field more particularly to a kind of buoy attitude measuring and methods.
Background technique
Ocean wave parameter observation technology is the important technology support of marine resources development and maritime rights and interests guarantee, to the sea in China
Anti- construction and the utilization of marine resources and sustainable development have a very important significance.Oceanographic buoy is to realize drive marine ring
The main means in border and the long-term continuous observation of ocean-atmosphere interface meteorologic parameter, it has also become ocean businessization observes essential observation
The capital equipment of system and offshore oceanographic observation.
Buoy works in marine environment, its own will necessarily be by the shadow of the marine environment such as wave, ocean current, wind
It rings, so that buoy generates the attitudes vibrations such as pitching, inclination and rotation.Since (such as wave buoy, Air-sea heat fluxes are floating for part buoy
Mark etc.) attitude stabilization of buoy is needed during the work time in a certain range, so that certain buoys are under the sea situation that works
Keeping attitude stabilization is the critical issue that such buoy needs to solve when designing and laying.Further, buoy posture is kept
Stabilization depends on buoy attitude measurement, by the measured offset angle of buoy, makes corresponding adjustment to buoy.
Existing buoy attitude measurement scheme mainly adds posture from note formula recorder in buoy float, transports in buoy float
While dynamic, the athletic posture of buoy is recorded by the attitude transducer of the posture from note formula recorder inside price valuableness.But
It is the gravity centre distribution that above-mentioned measurement scheme also changes buoy itself in addition to higher cost, is not suitable for quickly and accurately obtaining floating
Mark real-time attitude.
It should be noted that the above technical problem is that the present inventor is had found in the practice of the invention.
Summary of the invention
In view of the problems of prior art, the present invention provides a kind of buoy attitude measuring and method, purpose
It is the image information by two image acquisition device synchronous acquisition buoys, and buoy reality is determined according to Binocular vision photogrammetry principle
When attitude parameter.
On the one hand the embodiment of the present invention provides a kind of buoy attitude measuring, comprising:
Configure the buoy marker in buoy outer surface to be measured；
The first image acquisition device and the second image acquisition device of Image Acquisition are carried out to above-mentioned buoy marker；
Data processing module for identification and determines that above-mentioned first image acquisition device and the second image acquisition device are synchronized and adopted
The position difference information of above-mentioned buoy marker in the first image information and the second image information of collection, and according to above-mentioned alternate position spike
Different parameter determines the buoy attitude parameter of above-mentioned buoy to be measured.
In conjunction with the one side of the embodiment of the present invention, above-mentioned buoy marker includes reflecting marking draw in chess trellis scaling board,
Then above-mentioned data processing module is used to be demarcated according to grid shape above-mentioned in above-mentioned first image information and above-mentioned second image information
The position of plate determines the relative position information of above-mentioned first image acquisition device and above-mentioned second image acquisition device, and according to determining
The first image acquisition device and the relative position information of above-mentioned second image acquisition device establish world coordinate system；And above-mentioned data
Processing module is used for location information and knot according to reflecting marking item above-mentioned in above-mentioned first image information and the second image information
It closes and states world coordinate system, determine the buoy attitude parameter of above-mentioned buoy to be measured.
In conjunction with the one side of the embodiment of the present invention, above-mentioned data processing module is computer, which is characterized in that above-mentioned buoy
Attitude measuring further include: distinguish with above-mentioned first image acquisition device, the second image acquisition device and above-mentioned data processing module
The communication module of connection being separately connected, above-mentioned communication module is for adopting above-mentioned first image acquisition device and above-mentioned second image
Storage acquired image information is sent to above-mentioned computer.
In conjunction with the one side of the embodiment of the present invention, above-mentioned buoy attitude measuring further include: connect with above-mentioned communication module
The synchronous acquisition control module connect, for control by above-mentioned first image acquisition device and above-mentioned second image acquisition device synchronize adopt
The first image information and the second image information of collection are sent to above-mentioned computer.
In conjunction with the one side of the embodiment of the present invention, above-mentioned buoy attitude measuring further include: with above-mentioned data processing mould
The display device that block is connected, above-mentioned display device is for showing above-mentioned buoy attitude parameter.
In conjunction with the one side of the embodiment of the present invention, above-mentioned first image acquisition device and the second image acquisition device are horizontal or perpendicular
It is separated by a certain distance between the industrial camera of in line column and above-mentioned first image acquisition device and above-mentioned second image acquisition device.
In conjunction with the one side of the embodiment of the present invention, above-mentioned buoy attitude parameter is the pitch angle and yaw angle of buoy.
On the other hand the embodiment of the present invention provides a kind of buoy attitude measurement method, used aforementioned present invention one side institute
The buoy attitude measuring of offer, specific this method include:
First image acquisition device and the second image acquisition device distinguish the first figure that sync pulse jamming acquires above-mentioned buoy to be measured
As information and the second image information；
Above-mentioned data processing module obtains in above-mentioned first image information and the second image information with image processing techniques
The relative position information of grid shape scaling board, and establish reference coordinate system；
Above-mentioned data processing module obtains the position of reflecting marking item in above-mentioned first image information and the second image information
Information, and first coordinate information and second coordinate information of the above-mentioned reflecting marking item in above-mentioned world coordinate system are determined respectively；
According to above-mentioned first coordinate information and above-mentioned second coordinate information, and it is above-mentioned to combine optical triangulation principle to determine
The attitude parameter of buoy to be tested.
In conjunction with the another aspect of the embodiment of the present invention, in above-mentioned first image acquisition device and second image acquisition device point
Other sync pulse jamming acquires before the first image information and the second image information of the buoy to be measured further include:
Start the first image acquisition device and the second image acquisition device shooting, collecting does not include multiple images of buoy to be measured
Information；
Use statistical average method with the background image information of the above-mentioned buoy to be measured of determination multiple described image informations.
In buoy attitude measuring and method provided by the embodiment of the present invention, do not need that valence is installed inside buoy
The attitude transducer and auxiliary circuit of lattice valuableness also have no need to change the original structure design of buoy, to the original heavy of buoy
Heart distribution does not influence；Further, this measuring device and method is easy to operate, low in cost but identified measurement data knot
Fruit accuracy with higher, it is contemplated that having broad application prospects in buoy development and buoy dynamic property detection field.
There are also more beneficial effects to be illustrated in the following detailed description by the present invention.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Shown in fig. 1 is the structural schematic diagram of buoy attitude measuring provided by one embodiment of the invention；
Fig. 2 shows be buoy attitude measurement method provided by one embodiment of the invention flow diagram；
Fig. 3 shows the realization effect picture of buoy attitude measuring of the present invention and the application specific embodiment of method one；
Fig. 4 shows the schematic diagram of the definition of buoy attitude parameter according to the present invention；
Fig. 5 shows the schematic illustration of buoy attitude parameter measurement according to the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Referring to it is shown in fig. 1 be buoy attitude measuring provided by one embodiment of the invention structural schematic diagram, float
Marking attitude measuring 10 includes:
Configure the buoy marker 101 in the outer surface buoy A to be measured；
The first image acquisition device 102 and the second image acquisition device 103 of Image Acquisition are carried out to buoy marker 101；
Data processing module 104 for identification and determines the first image acquisition device 102 and 103 institute of the second image acquisition device
The position difference information of buoy marker 101 in the first image information and the second image information of synchronous acquisition, and according to above-mentioned
Position difference parameter determines the buoy attitude parameter of above-mentioned buoy A to be measured.
Provided buoy attitude measuring through the embodiment of the present invention does not need to install inside buoy expensive
Attitude transducer and auxiliary circuit, also have no need to change buoy original structure design, to original gravity centre distribution of buoy
It does not influence, can realize high-precision buoy attitude measurement result under the preceding topic of the consumption of low cost.
Buoy marker 101 includes 1011 draw in chess trellis scaling board 1012 of reflecting marking item, then data processing module 104 is used
According to the position of grid shape scaling board 1012 in the first image information and the second image information determine the first image acquisition device and
The relative position information of second image acquisition device, and according to identified first image acquisition device 102 and the second image acquisition device
103 relative position information establishes world coordinate system；And data processing module 104 be used for according to above-mentioned first image information and
The location information of above-mentioned reflecting marking item 1011 and the above-mentioned world coordinate system of combination, determine buoy to be measured in second image information
The buoy attitude parameter of A.Thus the determination to buoy posture is realized using space geometry knowledge.
Data processing module 104 is computer, above-mentioned buoy attitude measuring 10 further include: with the first image acquisition device
102, the communication module 105 being separately connected that the second image acquisition device 103 and data processing module 104 are separately connected communicates mould
Block 105 is used to the first image acquisition device 102 and 103 acquired image information of the second image acquisition device being sent to above-mentioned calculating
Machine.Data processing module is integrated in widely used computer by the present embodiment, reduces the system of buoy attitude measuring
This is caused, while also improving the user experience of buoy attitude measuring user.
Buoy attitude measuring 10 further include: the synchronous acquisition control module 106 connecting with communication module 105 is used for
It controls first image information and the second image of 103 synchronous acquisitions of the first image acquisition device 102 and the second image acquisition device
Information is sent to above-mentioned computer.Ensure computer received from the first image acquisition device and the second image acquisition device as a result,
Picture is synchronous acquisition, does further Screening Treatment without computer；The processing requirement for reducing computer, is more able to satisfy
The demand of the real-time of buoy attitude measuring.
Buoy attitude measuring 10 further include: the display device 107 being connected with data processing module 104, display dress
107 are set for showing above-mentioned buoy attitude parameter.Thus the user experience of buoy attitude measuring can be improved.
Above-mentioned first image acquisition device 102 and the second image acquisition device 103 are the industrial camera of horizontal or vertical arrangement, and
It is separated by a certain distance between first image acquisition device 102 and above-mentioned second image acquisition device 103.It should be noted that above-mentioned one
Set a distance can be scheduled according to the demand of measurement.
Above-mentioned buoy attitude parameter is the pitch angle and yaw angle of buoy.As a result, according to the real-time pitch angle of buoy and partially
Boat angle can determine the real-time attitude parameter of buoy.
More specifically, buoy attitude measuring provided by the present invention specifically includes that
Front-end image data acquisition module, data processing and display module and standard sign object etc..Wherein front end data
Acquisition module includes two industrial cameras being placed in parallel, between the two at a distance of 500mm-1000mm, for capturing different angle
The buoy movement image of synchronization；Synchronization signal trigger source, for providing synchronous triggering signal for above-mentioned two industrial camera；
Waterproof sealing shell prevents corrosion of the atmosphere water mist to camera for placing two parallel cameras；Light source, in dark situation
Lower supplementary light obtains high quality graphic；Image pick-up card, signal acquired in industrial camera, which is converted to computer, to be recognized
The signal known.Data processing and display module calculate floating mainly for the treatment of image information obtained by front end data acquisition module
Mark motion attitude angle is simultaneously shown.The module mainly includes computer and the image procossing worked out using tools such as OpenCV
Software.Standard sign object mainly includes grid shape scaling board and the high reflecting sign floating screed of lightweight, and wherein grid shape scaling board is for marking
Determine front end data acquisition module, obtains the relative positional relationship between two industrial cameras in left and right, and determine world coordinate system position；
The high reflecting sign floating screed of lightweight is mounted on buoy float in the case where not changing buoy gravity centre distribution, by determining the standard bar
Three-dimensional space linear equation calculates the athletic posture of buoy.
The flow diagram for showing buoy attitude measurement method provided by one embodiment of the invention referring to fig. 2, makes
The buoy attitude measuring provided by above-described embodiment, specific this method include:
S201: the first image acquisition device and the second image acquisition device distinguish that sync pulse jamming acquires above-mentioned buoy to be measured
One image information and the second image information；
S202: above-mentioned data processing module obtains above-mentioned first image information and the second image letter with image processing techniques
The relative position information of grid shape scaling board in breath, and establish reference coordinate system；
S203: above-mentioned data processing module obtains reflecting marking item in above-mentioned first image information and the second image information
Location information, and first coordinate information and second coordinate letter of the above-mentioned reflecting marking item in above-mentioned world coordinate system are determined respectively
Breath；
S204: according to above-mentioned first coordinate information and above-mentioned second coordinate information, and combine optical triangulation principle true
The attitude parameter of fixed above-mentioned buoy to be tested.
As further optimization, before step S201 further include:
Start the first image acquisition device 102 and 103 shooting, collecting of the second image acquisition device does not include the more of buoy to be measured
Open image information；
Use statistical average method with the background image information of the above-mentioned buoy to be measured of determination multiple described image informations.
The present embodiment method is easy to operate, low in cost but identified measurement data result accuracy with higher,
It is contemplated that having broad application prospects in buoy development and buoy dynamic property detection field.
More specifically, buoy attitude measurement method provided by the present invention specifically includes that
Buoy measuring device is directed at buoy working region, simultaneously using grid shape scaling board calibration front-end image acquisition module
Determine world coordinate system.Standard bar is placed on buoy float, starting video measuring device acquisition buoy is simulating different waves
Movement sequence image under situation.
The standard bar plane equation of left images centering is extracted respectively.Most back is removed with background differential mode first
Scape interference, determines the region of interest ROI of buoy movement, then with higher threshold in first frame image in a manner of man-machine interactively
It is worth segmented image, extracts high reflecting sign floating screed feature by the way of Radon transformation later, obtain its plane equation information.
After equation is practised physiognomy on the left side for obtaining high reflecting sign floating screed, it can be obtained by video camera national forest park in Xiaokeng image-forming principle
To excessively left camera photocentre and the plane equation of straight line excessively.The similarly plane equation of available excessively right camera photocentre and straight line excessively.
The space equation of high reflecting sign floating screed can be calculated by the mode that two planes intersect, its of calculation is known by space geometry knowledge
Spatial axis direction vector, and then the pitch angle during buoy movement and yaw angle can be calculated.
In order to understand spirit of that invention more easily, now further mathematics involved in the present embodiment method is changed
Calculation process combination the present embodiment method is specifically illustrated:
Buoy measuring system is demarcated:
It determines the world coordinate system established by the first image acquisition device of horizontal layout and the second image acquisition device, and is
Image acquisition device gets out picture-taken frequency.It specifically includes: using the coordinate system of the first image acquisition device as world coordinate system
OXWYWZW, both world coordinate system ZWAxis is directed toward target direction, X along left camera camera optical axisWIt is right along horizontal direction of practising physiognomy,
YWAxis and XW、ZWMeet right-hand rule.The inside and outside parameter of first image acquisition device and the second image acquisition device uses black and white chess format
Plane template demarcated, plane reference plate, which is one, the staggered gridiron pattern of several black and white, wherein the single chessboard of scaling board
The length of lattice is 30mm, shoots the scaling board image under several different situations, institute using the buoy attitude measuring put up
The quantity of the template image for calibration of acquisition should be greater than 15 as far as possible；It should be noted that the corresponding world has been determined
When the inside and outside parameter and then secondary use device of coordinate system and the first image acquisition device and the second image acquisition device measure then
It does not need using re-starting aforesaid operations.
Sampling resolution is set:
Synchronous acquisition buoy movement image, the DDS-3305 model that wherein source of synchronising signal selection Hantek company produces
Random waveform model generator sets synchronous external trigger for left and right camera, captures buoy movement image with setpoint frequency.
The height for extracting the first image acquisition device and the second image acquisition device respectively using the technology based on image procossing is reflective
Identification strip feature, and calculate separately the plane equation of the high reflecting marking feature of two each image acquisition devices:
Before shooting buoy movement image, starts the first image acquisition device and the second image acquisition device shoots several not
Image comprising buoy synthesizes background image using statistical average method.Captured buoy movement image is subtracted into background later
Image removes most of interference information in background.
Identification strip captured by the first image acquisition device and the second image acquisition device is extracted in image with Radon mapping mode
The equation of the imaging plane of collector；Above-mentioned background difference image is divided by bianry image with biggish threshold value first, wherein
The size needs of threshold value are determined according to actual tests environment；Then Radon transformation is carried out to bianry image, in transform domain image
Interior searching brightness peak point Rmax(ρ, θ), it is assumed that acquire the center (ρ, θ) of speck.It can be in the hope of according to Radon shift theory
The linear equation for obtaining high reflecting marking item is ρ=ulcosθ+vlSin θ, wherein (ul,vl) put down for the imaging of the first image acquisition device
The coordinate form in face.
Buoy attitude parameter is calculated according to optical triangulation principle and space geometry relevant knowledge:
Calculated separately left and right camera photocentre Ol、OrAnd control the identification strip l that practises physiognomyl、lrSpatial plane equation Sl、Sr；It is false
If the equation of high reflecting marking item can be written as following form in left camera image plane:
Had according to the pin-hole imaging model formula of video camera:
By above formula both ends with multiplied by vector [k1 k2 k3] have:
It arranges: AlXw+BlYw+ClZw+Dl=0, above formula was left camera photocentre O and crossed straight line llPlane Sl.Together
Reason can find out right camera photocentre and corresponding straight line lrPlane Sr。
Identification strip three-dimensional space equation is calculated by space plane intersection principle, buoy movement is calculated according to space geometry knowledge
Posture；Sl、SrTwo planes intersect the space equation L that high reflecting marking item can be obtained:
Pitching angle theta, yaw angle Ψ when can then obtain buoy movement by space geometry relevant knowledge are as follows:
The realization effect of buoy attitude measuring of the present invention and the application specific embodiment of method one is shown referring to Fig. 3
Figure, comprising:
Two be horizontally mounted industrial camera in capsul, is mounted on camera support comprising left camera and right camera
On, it is directed at buoy working region, separated by a distance between two cameras, which is exactly so-called parallax range.Parallax range
It to be adjusted according to the actual conditions of tested buoy, the size of distance has certain influence to attitude measurement accuracy, in this reality
It applies in example, Zuo Xiangji 301 and right camera 302 are between the two at a distance of 500mm-1000mm.
The course of work of buoy attitude measuring of the present invention and method mainly includes three parts: it is quasi- that buoy measures work
The extraction of standby, high reflecting marking feature and the calculating of buoy movement attitude angle:
One, buoy measures Job readiness:
Buoy measurement Job readiness mainly include the calibration of Image Acquisition measuring system, the placement of high reflecting marking item and
The acquisition of buoy movement image.The calibration of Image Acquisition measuring system is to join for unified references object for subsequent buoy posture
Several measurements lay the foundation, and buoy attitude parameter includes the pitch angle and yaw angle of buoy in the present embodiment, specifically image
The calibration of collecting and measuring system:
Show that the schematic diagram of the definition of the buoy attitude parameter of buoy, world coordinate system are defined as referring to fig. 4
OXwYwZw, the athletic posture of buoy during the motion includes that pitch angle, yaw angle and roll angle are defined respectively as: pitching
Angle θ by placed high reflecting marking item and horizontal plane both with world coordinate system OXwYwAngle between face.Yaw angle Ψ is Gao Fanguang
Identification strip is in OXwYwProjection and OY on facewThe angle of between centers.
Assuming that spatial point P (Xw,Yw,Zw) coordinate in camera image plane is p (u, v), then according to video camera imaging
Linear model has following relationship in the case where not considering distortion:
Z in above formulaCDistance of the representation space point P to camera imaging plane；The focal length of f expression camera；Dx and dy is CCD water
The physical length of gentle vertical direction single pixel；(u0,v0) indicate image center.(f/dx, f/dy, u0,v0) it is by camera
Internal structure and intrinsic property determine, be camera inner parameter.R, T indicates camera coordinates system relative to world coordinate system
Rotation and translation relation, be camera external parameter.The internal and external parameter of camera can be by video measuring in this paper first step
System calibrating obtains.
In the calibration of Image Acquisition measuring system, using the grid scaling board image of left and right camera shooting different positions and pose, use
In the inside and outside parameter that determines two industrial cameras and determine world coordinate system, the XOY plane of world coordinate system can fetch water plane, Z
Axis perpendicular to XOY plane and straight up, meets right-hand rule between three axes.
Since all kinds of buoy shapes are different, uncommon resemblance describes its athletic posture, so can be not
High reflecting marking item is placed in its cover top portion in the case where change buoy gravity centre distribution, the identification strip is in a manner of glued and floating
Standard type is fixed.Wherein high reflecting marking item applies high reflecting material by high-intensitive lightweight aluminum pipe outside and is made, length according to
Different buoy floats can do adjustment appropriate.
After completing the placement work of calibration and high reflecting marking item of video measuring system, it is floating to open the shooting of left and right camera
Moving image of the mark under different sea situation states.
Two, the extraction of high reflecting marking location information
Since all kinds of buoy shapes are different, so measuring buoy by way of installing marker outside buoy float
Athletic posture.In the present invention, the marker installed is the lightweight strip for being coated with high reflecting material, as long as being capable of automatic identification
The high reflecting marking item of left images centering can be calculated its motion attitude angle by vision measurement relevant knowledge out.Now with left image
The location information for illustrating how to extract the high reflecting marking item for image planes, specifically includes:
Using airspace median filter smoothness of image image, the interference of high-frequency noise is removed；Later using background subtraction removal back
Scape noise, wherein the building of background image can construct before acquiring buoy movement according to statistical average method；Threshold is used later
It is worth split plot design and divides difference image, used threshold value needs to be determined according to specific experimental enviroment and illumination condition, to guarantee
Image after dividing can retain high reflecting marking feature but also the most low-light level interference of removal, use later
Canny edge detection operator detects bianry image edge.
Radon transformation has apparent geometrical characteristic, has the characteristics that good anti-noise ability and is easily achieved, and is suitble to use
In the detection to straight-line target.Radon transformation is made to the image after Canny edge detection in the present invention, it will be original after transformation
Bianry image along specified angle integral projection, convert brightness peak point in O ρ θ plane for straight-line detection problem in phase plane
Test problems.After Radon is converted, transform domain image is rendered as a speck, first to Radon changing image mean filter,
Then brightness peak R is searched in transform domainmax(ρ, θ) acquires the center (ρ, θ) of speck.According to Radon shift theory
It can be ρ=u in the hope of the linear equation of high reflecting marking itemlcosθ+vlSin θ, wherein (ul,vl) it is the coordinate that left camera is practised physiognomy
Form.The linear equation can be organized into following form:
Three, buoy movement attitude angle calculates
The schematic illustration of buoy attitude parameter measurement according to the present invention is shown referring to Fig. 5, it is assumed that second
It is extracted respectively in part and obtains the high reflecting marking l of left images centeringl、lr, the high reflecting marking item of left images centering
A space plane S can be determined respectively with the optical center of respective cameral、Sr.By space geometry knowledge it is found that the two plane phases
The straight line in space is met at, this straight line is the space equation of high reflecting marking item.Assuming that the first image acquisition device
The equation of high reflecting marking item can be written as following form on imaging plane:
Had according to the pin-hole imaging model formula (1) of video camera:
By above formula both ends with multiplied by vector [k1 k2 k3] have:
It arranges:
Above formula was left camera photocentre O and crossed straight line llPlane Sl.Similarly, right camera photocentre and right can be found out
Answer straight line lrPlane Sr。
Sl、SrTwo planes intersect the space equation L that high reflecting marking item can be obtained:
The direction vector of the space line known to space geometry knowledge are as follows:
(l m n)=(Al Bl Cl)×(Ar Br Cr)
Then pitching angle theta when buoy movement, yaw angle Ψ are as follows:
From the above equation, we can see that calculated pitch angle and yaw angular region are as follows:And
It should be noted that in the absence of conflict, it is involved in each embodiment and preferred embodiment in the present invention
To technical characteristic each other can be combined with each other；The terms "include", "comprise" include not only those elements, but also wrap
Include other elements that are not explicitly listed, or further include for this process, method, article or equipment intrinsic want
Element.In the absence of more restrictions, the element limited by sentence " including ... ", it is not excluded that including the element
There is also other identical elements in process, method, article or equipment.
Related function module and unit can be realized by hardware processor in the embodiment of the present invention.
The apparatus embodiments described above are merely exemplary, wherein described, unit can as illustrated by the separation member
It is physically separated with being or may not be, component shown as a unit may or may not be physics list
Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of the modules achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creativeness
Labour in the case where, it can understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It realizes by means of software and necessary general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be embodied in the form of software products in other words, should
Computer software product may be stored in a computer readable storage medium, such as ROM/RAM, magnetic disk, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
Method described in certain parts of example or embodiment.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (7)
1. a kind of buoy attitude measuring characterized by comprising
Configure the buoy marker in buoy outer surface to be measured；
The first image acquisition device and the second image acquisition device of Image Acquisition are carried out to the buoy marker；
Data processing module for identification and determines the first image collector and the second image acquisition device institute synchronous acquisition
The position difference information of buoy marker described in first image information and the second image information, and it is true according to position difference parameter
The buoy attitude parameter of the fixed buoy to be measured；
The data processing module is used for according to grid shape scaling board in the first image information and second image information
Position determine the relative position information of the first image collector and second image acquisition device, and according to identified
The relative position information of first image acquisition device and second image acquisition device establishes world coordinate system；And
The data processing module is used for the position according to reflecting marking item in the first image information and the second image information
Information and in conjunction with the world coordinate system, determines the buoy attitude parameter of the buoy to be measured；
The first image collector and the second image acquisition device are the industrial camera and first figure of horizontal or vertical arrangement
As being separated by a certain distance between collector and second image acquisition device.
2. buoy attitude measuring according to claim 1, the data processing module is computer, and feature exists
In described device further include:
The communication module being separately connected with the first image collector, the second image acquisition device and the data processing module,
The communication module is used to send the first image collector and the second image acquisition device acquired image information
To the computer.
3. buoy attitude measuring according to claim 2, which is characterized in that further include:
The synchronous acquisition control module being connect with the communication module, for controlling the first image collector and described the
The first image information and the second image information of two image acquisition device institute synchronous acquisitions are sent to the computer.
4. buoy attitude measuring according to claim 1, which is characterized in that further include: with the data processing mould
The display device that block is connected, the display device is for showing the buoy attitude parameter.
5. buoy attitude measuring according to claim 1, it is characterised in that: the buoy attitude parameter is buoy
Pitch angle and yaw angle.
6. a kind of buoy attitude measurement method, which is characterized in that the method has used claim 1-4 described in any item floating
Mark attitude measuring, which comprises
The first image collector and second image acquisition device distinguish that sync pulse jamming acquires the buoy to be measured
One image information and the second image information；
The data processing module obtains grid in the first image information and the second image information with image processing techniques
The relative position information of shape scaling board, and establish reference coordinate system；
The data processing module obtains the location information of reflecting marking item in the first image information and the second image information,
And first coordinate information and second coordinate information of the reflecting marking item in the world coordinate system are determined respectively；
According to first coordinate information and the second coordinate information, and determine in conjunction with optical triangulation principle described to be tested floating
Target attitude parameter.
7. according to the method described in claim 6, it is characterized in that, in the first image collector and the second image acquisition device
Before sync pulse jamming acquires the buoy to be measured respectively the first image information and the second image information further include:
Start the first image acquisition device and the second image acquisition device shooting, collecting does not include multiple images of the buoy to be measured
Information；
Use statistical average method with the background image information of the determination buoy to be measured multiple described image informations.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106851218B (en) | 2017-03-17 | 2023-05-02 | 大连理工大学 | Video monitoring device and method for running state of wave generator |
| CN107831515B (en) * | 2017-10-10 | 2019-11-01 | 北京臻迪科技股份有限公司 | Underwater Navigation method and system |
| CN109000622A (en) * | 2018-05-18 | 2018-12-14 | 中国科学院光电研究院 | A kind of Underwater Navigation method and system based on deep learning |
| CN109263811B (en) * | 2018-09-29 | 2024-03-08 | 国家海洋局南海调查技术中心 | Buoy with non-magnetic low-power-consumption direction identification and positioning functions and method |
| CN110246177B (en) * | 2019-06-25 | 2021-06-22 | 上海大学 | Automatic wave measuring method based on vision |
| CN110473260A (en) * | 2019-06-28 | 2019-11-19 | 国家海洋技术中心 | A kind of wave video measuring device and method |
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