CN108205817A - Obtain the methods, devices and systems of target surface - Google Patents
Obtain the methods, devices and systems of target surface Download PDFInfo
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- CN108205817A CN108205817A CN201611187536.4A CN201611187536A CN108205817A CN 108205817 A CN108205817 A CN 108205817A CN 201611187536 A CN201611187536 A CN 201611187536A CN 108205817 A CN108205817 A CN 108205817A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T15/00—3D [Three Dimensional] image rendering
- G06T15/005—General purpose rendering architectures
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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
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T15/00—3D [Three Dimensional] image rendering
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/30—Polynomial surface description
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2215/00—Indexing scheme for image rendering
- G06T2215/06—Curved planar reformation of 3D line structures
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Abstract
The invention discloses a kind of methods, devices and systems for obtaining target surface.Wherein, this method includes：The image that acquisition is incident upon on target surface and is generated by light, image include：Multiple bright fringes, wherein, light is the emergent ray that two default light sources are sent out, and is alternatively arranged respectively from the bright fringes of two default light sources；Multiple target points are taken from the bright fringes in image；The coordinate value of multiple target points is obtained, and target surface is obtained according to the coordinate value of multiple target points；The volume of balloonet is determined according to target surface.The present invention is solved in the prior art when using the state of binocular camera shooting machine monitoring dirigible balloonet, the technical issues of causing accuracy low due to the registration difficulty height of binocular camera.
Description
Technical field
The present invention relates to dirigible field, in particular to a kind of methods, devices and systems for obtaining target surface.
Background technology
Balloonet is the essential component part of dirigible, is realized by the inflation/deflation of balloonet entire under different temperature
The air pressure of dirigible utricule and the holding of aerodynamic configuration, so as to ensure dirigible long lasting for floating ability, therefore in dirigible
In PRACTICE OF DESIGN, the state of moment monitoring balloonet is necessary, can only be with non-contact due to the integrally-built characteristic of balloonet
Method is monitored.
The monitoring method of existing dirigible balloonet is on the basis of three-dimensional reconstruction method, using laser three-dimensional scanning side
Method or the stereo reconstruction based on binocular stereo vision, three-dimensionalreconstruction are the very high methods of a feasibility, but using laser three-D
The laser three-dimensional scanning cost of scan method is too high, during stereo reconstruction based on binocular stereo vision, since binocular camera needs
It to calibrate in advance, calibration difficulty is higher, and is difficult to ensure that situations such as the air-flow of intracapsular complexity necessary to binocular vision surely
Determine state, therefore precision cannot be up to standard in the distance more than 25m or so for stereoscopic vision.
For in the prior art using binocular camera shooting machine monitoring dirigible balloonet state when, due to binocular camera
The problem of registration difficulty height causes accuracy low, currently no effective solution has been proposed.
Invention content
An embodiment of the present invention provides a kind of methods, devices and systems for obtaining target surface, at least to solve existing skill
In art when using the state of binocular camera shooting machine monitoring dirigible balloonet, since the registration difficulty height of binocular camera causes accurately
Spend the technical issues of low.
One side according to embodiments of the present invention provides a kind of method for obtaining target surface, including：Acquisition is by light
The image that line is incident upon on target surface and generates, image include：Multiple bright fringes, wherein, light is two default light source hairs
The emergent ray gone out is alternatively arranged respectively from the bright fringes of two default light sources；Multiple mesh are taken from the bright fringes in image
Punctuate；The coordinate value of multiple target points is obtained, and target surface is obtained according to the coordinate value of multiple target points；According to target surface
Determine the volume of balloonet.
Another aspect according to embodiments of the present invention additionally provides a kind of device for obtaining target surface, including：Acquire mould
Block, for acquiring the image for being incident upon on target surface and being generated by light, image includes：Multiple bright fringes, wherein, light is
The emergent ray that two default light sources are sent out is alternatively arranged respectively from the bright fringes of two default light sources；First acquisition module,
For taking multiple target points from the bright fringes in image；Second acquisition module, for obtaining the coordinate value of multiple target points, and
Target surface is obtained according to the coordinate value of multiple target points；Determining module, for determining the volume of balloonet according to target surface.
Another aspect according to embodiments of the present invention additionally provides a kind of system for obtaining target surface, including：Two pre-
If light source, for the emergent ray sent out；Image capture device is incident upon on target surface by emergent ray for acquisition and is produced
Raw image, image include：Multiple bright fringes, target surface are the surface of dirigible balloonet；Controller, with image capture device
It is connected, for taking multiple target points from the bright fringes in image；The coordinate value of multiple target points is obtained, according to multiple target points
Coordinate value obtain target surface；And the volume of dirigible balloonet is determined according to target surface.
In embodiments of the present invention, the image for being incident upon on target surface by light and being generated is acquired, from bright in image
Multiple target points are taken on striped, obtain the coordinate value of multiple target points, and target song is obtained according to the coordinate value of multiple target points
Face, and determine according to target surface the volume of balloonet.Said program ambient adaptability is strong, even if light source and phase during use
The posture of machine has greatly changed, and without calibration, and can effectively detect the situation of balloonet, the precision of monitoring
Actual demand can be met.
Description of the drawings
Attached drawing described herein is used to provide further understanding of the present invention, and forms the part of the application, this hair
Bright illustrative embodiments and their description do not constitute improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is a kind of flow chart of the method for acquisition target surface according to embodiments of the present invention；
Fig. 2 is a kind of optional distribution schematic diagram for presetting light source and camera according to embodiments of the present invention；
Fig. 3 is a kind of optional camera the image collected schematic diagram according to embodiments of the present invention；
Fig. 4 is a kind of optional schematic diagram for obtaining coordinate of ground point value according to embodiments of the present invention；
Fig. 5 is a kind of structure diagram of the device of acquisition target surface according to embodiments of the present invention；And
Fig. 6 is a kind of structure diagram of the system of acquisition target surface according to embodiments of the present invention.
Specific embodiment
In order to which those skilled in the art is made to more fully understand the present invention program, below in conjunction in the embodiment of the present invention
The technical solution in the embodiment of the present invention is clearly and completely described in attached drawing, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's all other embodiments obtained without making creative work should all belong to the model that the present invention protects
It encloses.
It should be noted that term " first " in description and claims of this specification and above-mentioned attached drawing, "
Two " etc. be the object for distinguishing similar, and specific sequence or precedence are described without being used for.It should be appreciated that it uses in this way
Data can be interchanged in the appropriate case, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, be not necessarily limited to for example, containing the process of series of steps or unit, method, system, product or equipment
Those steps or unit clearly listed, but may include not listing clearly or for these processes, method, product
Or the intrinsic other steps of equipment or unit.
Embodiment 1
According to embodiments of the present invention, a kind of embodiment of the method for obtaining target surface is provided, it should be noted that attached
The step of flow of figure illustrates can perform in the computer system of such as a group of computer-executable instructions, though also,
So show logical order in flow charts, but in some cases, can be performed with the sequence being different from herein shown by
Or the step of description.
Fig. 1 is the flow chart of the method for acquisition target surface according to embodiments of the present invention, as shown in Figure 1, this method packet
Include following steps：
Step S102, acquires the image for being incident upon on target surface and being generated by light, and image includes：Multiple bright fringes,
Wherein, light is the emergent ray that two default light sources are sent out, and is alternatively arranged respectively from the bright fringes of two default light sources.
Specifically, above-mentioned target surface is the surface of the balloonet of dirigible for needing to monitor, and in above-mentioned steps, Ke Yiyou
Camera acquires the image containing bright fringes.
In a kind of optional embodiment, above-mentioned bright fringes can be split modulation to the emergent ray for presetting light source
It obtains, it is spaced bright dark since the emergent ray for presetting light source can obtain spaced bright concealed wire by beam splitting modulation
Line can form bright fringes, then the image formed using camera acquisition bright fringes on balloonet surface.
Step S104 takes multiple target points from the bright fringes in image.
Specifically, above-mentioned target point is used to determine target surface.
Herein it should be noted that the spacing of multiple bright fringes is different, the dense degree for taking target point is also different, therefore same
The monitoring accuracy of one target surface also can by multiple bright fringes spacing and the dense degree of target point is taken to be influenced.
In the case that the target point of acquirement is more, the target surface monitored is more accurate, but since target point is more, calculation amount also compared with
Greatly；And in the case where the target point of acquirement is less, the target surface monitored is inaccurate, but data calculation amount is smaller.
Therefore can target point be obtained according to practical detection requirement, to reach the balance between accuracy and calculation amount.
Step S106 obtains the coordinate value of multiple target points, and obtains target surface according to the coordinate value of multiple target points.
In above-mentioned steps, after target point is determined, the coordinate value of multiple target points can be combined, passes through 3 D stereo
Reconstructing method obtains the higher target surface of similarity, obtained result can include function for representing target surface and/
Or target surface schematic diagram.
Herein it should be noted that the environmental suitability that the method for the acquisition target surface that above-described embodiment provides is applicable in
Preferably, system building is simple, image procossing understands, of low cost.The monitoring of dirigible balloonet is can be applied to, can also be applied to
Make three-dimensionalreconstruction application under double light compensating lamp three-dimensional imaging cameras, dark room conditions etc..Three-dimensional can be played in these scenes
The effect that reconstruct, solid picture-taking, target location monitoring, three-dimensional imaging reconstruct.
From the foregoing, it will be observed that the image that the acquisition of the application above-mentioned steps is incident upon on target surface and is generated by light, from image
In bright fringes on take the coordinate value of multiple target points and multiple target points, and obtain according to the coordinate value of multiple target points
Target surface.Said program ambient adaptability is strong, even if larger change occurs for the posture of default light source and camera during use
Change, without calibration, suitable for, to the acquisition of variable curve, being particularly suitable for monitoring the capsule in dirigible balloonet under several scenes
Body surface curve, the precision of monitoring can also meet actual demand.
Optionally, it according to the above embodiments of the present application, acquires in a step 102 and is incident upon on target surface and is produced by light
Before raw image, method further includes：Step S108, generate bright fringes, wherein, generate bright fringes the step of include：
Step S112, two default light sources of setting interval pre-determined distance in front of target surface.
Step S114 is split modulation to the emergent ray of two default light sources, emergent ray is made to form multiple bright wisps
Line.
Specifically, above-mentioned default light source can be near-infrared light source, multiple bright fringes are formed after being modulated by beam splitting.
Fig. 2 is a kind of optional distribution schematic diagram for presetting light source and camera according to embodiments of the present invention, can in one kind
In the case of choosing, with reference to example shown in Fig. 2, it is near-infrared light source to preset light source, before being positioned over target surface, first light source 1
First light source beam splitting light 201 is sent out, second light source 2 sends out second light source beam splitting light 202, first light source beam splitting light 201
There is certain overlapping covering surface on target surface 203 with second light source beam splitting light 202, for acquiring the camera 3 of image
Between first light source 1 and second light source 2, the bright fringes of acquisition emergent ray composition.The first light source on target surface 203
On the overlapping covering surface of beam splitting light 201 and second light source beam splitting light 202, what the first light source 1 and second light source 2 were sent out
Bright fringes is alternatively arranged.
Herein it should be noted that the distributing position of above-mentioned camera and default light source is not necessarily limited to above-mentioned implementation
Example is knowing distance between first light source 1 and second light source 2 and 2 bright fringes of first light source 1 and second light source and base
In the case of angle between line (line between first light source 1 and second light source 2), just can by scheduled computational methods
Get the coordinate value of target point.
In a kind of optional embodiment, it can utilize diffraction grating that emergent ray is made to form multiple bright fringes.
From the foregoing, it will be observed that the application above-mentioned steps set two default light sources of interval pre-determined distance in front of target surface,
Modulation is split to the emergent ray of two default light sources, emergent ray is made to form bright fringes.Said program passes through in target
Setting light source in front of curved surface, and modulation is split to default light source, form the image for obtaining target point.
Optionally, according to the above embodiments of the present application, in step 104, multiple target points are taken from the bright fringes in image,
Including：
Step S1041 takes equidistant straight line to the image of acquisition, wherein, straight line intersects with multiple bright fringes.
Specifically, equipment used in above-mentioned acquisition image can be camera 3, it is above-mentioned as a kind of optional embodiment
Straight line can be vertical with bright fringes, and in the case where multiple bright fringes is vertical bright fringes, above-mentioned straight line is horizontal line, with reference to figure
Example shown in 2, camera 3 can be deployed between first light source 1 and second light source 2, and with first light source 1 and second light source 2
Distance it is equal.Fig. 3 is a kind of optional 3 the image collected schematic diagram of camera according to embodiments of the present invention, to acquisition
Image takes equidistant horizontal result can be as shown in Figure 3.In a kind of optional embodiment, with reference to example shown in Fig. 3,
It is modulated by beam splitting, the bright fringes that light source 1 and light source 2 are formed on target surface is vertical bright fringes, in light source 1 and light
Equidistant horizontal line is taken on the target surface that the bright fringes in source 2 covers.Equidistant horizontal line is parallel to first light source 1 and second
The line of light source 2.
Step S1043, the intersection point for determining straight line and multiple bright fringes is multiple target points.
The bright fringes of each horizontal line and first light source 1 and second light source 2 generates intersection point, these intersection points are target
Point.
From the foregoing, it will be observed that the application above-mentioned steps take equidistant horizontal line by the image to acquisition, to obtain target point.
Optionally, according to the above embodiments of the present application, in step 106, two default light sources for first light source and
Second light source 2, the method for obtaining the coordinate value of multiple target points include：
Step S1061, two default light sources are first light source 1 and second light source 2, determine the first light in two default light sources
Source 1 is origin, and the line of first light source 1 and second light source 2 determines to hang down with the first dimension in preset plane as the first dimension
Straight direction is the second dimension, wherein, preset plane is the plane determined by two default light sources and object to be measured point C, mesh
Punctuate C belongs to the point on the m articles bright fringes that second light source 2 sends out and formed on target surface.
Step S1062 establishes coordinate system according to the first dimension and the second dimension.
In a kind of optional embodiment, Fig. 4, which is that one kind according to embodiments of the present invention is optional, obtains coordinate of ground point
The schematic diagram of value, with reference to example shown in Fig. 4, the origin O of the coordinate system established in the example is the position of first light source 1, P
(1,0) be second light source 2 position, x-axis direction is the direction that extend to second light source 2 of first light source 1, and y-axis direction is the
Perpendicular to the direction that x-axis direction extends in the plane that one light source 1, second light source 2 and target point C are determined, and the y-axis of target point C
Coordinate is just.
Step S1063, as shown in figure 4, choosing in a coordinate system adjacent with target point C opposite sides by first light source 1
For bright spot in two bright fringes sent out as two first auxiliary magnets A and B, straight line AC and straight line BC are approximately straight line
L1；By the auxiliary line of origin O and auxiliary magnet A be L2, by the auxiliary line of origin O and auxiliary magnet B be L3,2 institute of second light source
In position, the auxiliary line L4 of P (1,0) and target point C intersects at two second auxiliary magnets E and D respectively with auxiliary line L2 and L3；And
Obtain the coordinate value (x2, y2) and (x1, y1) of two second auxiliary magnets E and D.
A points and B points are the points in nth bar and (n+1)th bright fringes that first light source 1 is sent out, and C points are that second light source 2 is sent out
The point on the m articles bright fringes gone out, according to the parameters such as Principle of Grating Diffraction and grating constant, optical source wavelength, n and m are can to survey
Measure the known natural number known, that is, auxiliary line L2, L3 and L4 can measure with the angle α of x-axis, β, γ know respectively, i.e.,
Angle α, β, γ be it is known that and in Fig. 4, distance, that is, line segment OP of first light source 1 and second light source 2 is also known.Then three
In angular EOP, the length of OP is it is known that angle α and γ it is known that can then calculate the coordinate value (x1, y1) of learning D points, similarly, can be counted
Calculate the coordinate value (x2, y2) for learning E points.
Step S1065, according to the coordinate value of two second auxiliary magnets E and D and two the first auxiliary magnet A and B and C away from
From proportionate relationship, obtain the coordinate value of target point.
It measures and learns in the bright wisp print image as shown in Figure 2 that the lenth ratio of line segment AC and BC can be shot by camera 3：C
Point is the point on a certain known bright fringes in Fig. 3, measures two bright fringes adjacent with C point opposite sides and C points place is bright
The distance of striped calculates the pixel number in the horizontal direction between bright fringes, can obtain the lenth ratio of line segment AC and BCIn the present embodiment, due to adjacent stripes spacing compared to its distance with x-axis be very little, it is possible to by line segment
EC is approximate with the lenth ratio of DC equal with line segment AC with the lenth ratio of BC, i.e.,It therefore can be according to point D, point E
Coordinate and EC/DC ratio, obtain the coordinate value of target point C.
From the foregoing, it will be observed that the application above-mentioned steps realize the technology for obtaining target point by building coordinate system and auxiliary magnet
Purpose.
Object to be measured point C is replaced with another target point, repeats step S1061-S1065 by step S1066, until obtaining
The coordinate value of all predetermined target points.
Optionally, according to the above embodiments of the present application, in the coordinate value for obtaining the multiple target point, and according to described more
After the coordinate value of a target point obtains the target surface, method further includes：
Step S110, the volume of the dirigible balloonet according to belonging to target surface determines target surface.
Specifically, the volume of above-mentioned dirigible balloonet is used to characterize the inflation situation of balloonet, so as to obtain dirigible
The state of air bag and the state of flight of dirigible.
Step S112 obtains preset safe volume range.
Specifically, above-mentioned preset safe volume range can include a maximum volume and a minimum volume.
Step S114 in the case where the volume of dirigible balloonet is not at safe volume range, sends out alarm signal.
Specifically, dirigible balloonet volume be more than maximum volume or less than minimum volume in the case of, confirm dirigible
The volume of balloonet is not in the range of safe volume, therefore balloonet is in non-secure states, sends out alarm signal.It can be with
With realtime curve device, for the volume of real-time display balloonet.
It should be noted that filling air inside dirigible balloonet, inside dirigible main gasbag, and therewith between air bag
Helium is filled, buoyancy is provided for dirigible by the helium between main gasbag and balloonet.In a kind of optional embodiment, due to
The volume of balloonet is less than minimum volume and generates alarm signal, it may be considered that dirigible main gasbag volume is excessive, it may be possible to by
It is excessively high in gas temperature in main gasbag and cause；In an alternative embodiment, since the volume of balloonet is more than maximum
Volume and generate alarm signal, it may be considered that airship envelope volume is too small, it may be possible to draw since airbag gas temperature is too low
It rises.
From the foregoing, it will be observed that the application above-mentioned steps are by obtaining preset safe volume range, in the volume of dirigible balloonet
In the case of being not at safe volume range, alarm signal is sent out, realizes the monitoring of the state to dirigible balloonet, so as to real
The monitoring to airship flight state is showed.
Optionally, it according to the above embodiments of the present application, two default light sources and may be contained within for acquiring the device of image
In dirigible balloonet, the method for the volume of the dirigible balloonet according to belonging to target surface determines target surface includes：Use song
The distance of target point to light source on face integrates curved surface, obtains the internal capacity of dirigible balloonet.
It in a kind of optional embodiment, is described with example shown in Fig. 2, the 203 target song for dirigible balloonet
The part that face namely camera take, first light source 1 and second light source 2 all in dirigible balloonet inside, getting target
It after curved surface, can actually obtain with first light source 1 as the vertex of a cone, the centrum with curved surface 203 for bottom surface, due to having got target
The coordinate of each target point on curved surface, therefore understand that each distance of the target point apart from vertex of a cone light source 1 on curved surface 203, make
Curved surface 203 is integrated with the distance of the target point on curved surface 203 to light source 1, the volume of centrum can be obtained, pass through centrum
Volume can then obtain the internal capacity of dirigible balloonet.
Embodiment 2
The method of acquisition target surface provided according to embodiment 1, present invention also provides a kind of acquisition target surfaces
Device, Fig. 5 are a kind of structure diagrams of the device of acquisition target surface according to embodiments of the present invention, which includes：
Acquisition module 50, for acquiring the image for being incident upon on target surface and being generated by light, image includes：It is multiple bright
Striped, wherein, light is the emergent ray that two default light sources are sent out, and is arranged respectively from the bright fringes interval of two default light sources
Row.
Specifically, above-mentioned target surface is to need the surface of balloonet that monitors, in above-mentioned steps, can by camera Lai
Image of the acquisition containing multiple bright fringes.
In a kind of optional embodiment, above-mentioned bright fringes can be split modulation to the emergent ray for presetting light source
It obtains, it is spaced bright dark since the emergent ray for presetting light source can obtain spaced bright concealed wire by beam splitting modulation
Line can avoid forming multiple bright fringes, then acquire the image of multiple bright fringes compositions using camera in balloonet.
Specifically, above-mentioned target point is used to determine target surface.
Herein it should be noted that the spacing of bright fringes is different, the dense degree for taking target point is also not necessarily identical, therefore
The monitoring accuracy of same target surface also can by multiple bright fringes spacing and the dense degree of target point is taken to be influenced,
In the case where the target point of acquirement is more, the target surface monitored is more accurate, but since target point is more, calculation amount
Larger, in the case where the target point of acquirement is less, the target surface monitored is inaccurate, but data calculation amount is smaller,
Therefore can target point be obtained according to practical detection requirement.
First acquisition module 52, for taking multiple target points from the bright fringes in described image.
Second acquisition module 54 for obtaining the coordinate value of multiple target points, and is obtained according to the coordinate value of multiple target points
Take target surface.
In above device, since light source is preset light source, the distance of light source and target surface be it is known,
After determining target point, can the coordinate value of each target point be calculated according to the distance between light source and target surface relationship,
In a kind of optional embodiment, the higher target surface of similarity can be directly obtained according to 3 D stereo reconstructing method.This reality
It can be the method described in the step S1061-S1066 applied strictly according to the facts in example 1 to apply the 3 D stereo reconstructing method in example.
Determining module, for determining the volume of balloonet according to target surface.
Herein it should be noted that the environmental suitability that the method for the acquisition target surface that above-described embodiment provides is applicable in
Preferably, system building is simple, image procossing understands, of low cost.Other than being applied to the monitoring of dirigible balloonet, it can also answer
For making three-dimensionalreconstruction application under double light compensating lamp three-dimensional imaging cameras, dark room conditions etc..It can be played in these scenes
The effect that three-dimensionalreconstruction, solid picture-taking, target location monitoring, three-dimensional imaging reconstruct.
From the foregoing, it will be observed that the application above device is acquired by acquisition module is incident upon what is generated on target surface by light
Image takes multiple target points by the first acquisition module from the bright fringes in image, is obtained by the second acquisition module multiple
The coordinate value of target point, and target surface is obtained according to the coordinate value of multiple target points, and pass through determining module according to target song
Face determines the volume of balloonet.Said program ambient adaptability is strong, though during use the posture of light source and camera occur compared with
Big variation without calibration, and can effectively detect the situation of balloonet, and the precision of monitoring can also meet practical need
It asks.
Optionally, according to the above embodiments of the present application, above device further includes：Generation module, for acquiring by light
Before the image for being incident upon on target surface and generating, bright fringes is generated, wherein, generation module includes：
Setting unit, for two default light sources of the setting interval pre-determined distance in front of target surface.
Modulation unit is split modulation for the emergent ray to two default light sources, and emergent ray is made to form bright wisp
Line.
From the foregoing, it will be observed that the application above device sets the two of interval pre-determined distance by setting unit in front of target surface
Platform presets light source, is split modulation to the emergent ray of two default light sources by modulation unit, forms emergent ray bright
Striped.Said program is split light source modulation by setting light source in front of target surface, forms to obtain mesh
The image of punctuate.
Optionally, according to the above embodiments of the present application, the first acquisition module 52 includes：
First acquisition unit takes equidistant straight line for the image to acquisition, wherein, straight line intersects with bright fringes.
First determination unit, for determining that the intersection point of straight line and bright fringes is multiple target points.
Optionally, according to the above embodiments of the present application, the second acquisition module 54 includes：
Second determination unit, for determining in two default light sources that first light source 1 is origin, the first light source 1
Line with second light source 2 determines that in preset plane be second with the direction of first dimension perpendicular as the first dimension
Dimension, wherein, the preset plane is the plane determined by two default light sources and a target point to be measured, described to be measured
Target point correspond to the bright fringes that sends out of the second light source 2, the target point to be measured corresponds to the second light source 2
The bright fringes sent out.
Unit is established, for establishing coordinate system according to the first dimension and the second dimension；
Second acquisition unit, for choose in a coordinate system it is adjacent with target point both sides sent out by first light source 1 two
Bright spot in bright fringes as two the first auxiliary magnets, the line of second light source 2 and the target point and two auxiliary lines
Intersection point is two the second auxiliary magnets, wherein, two auxiliary lines are first light source 1 and the line of first auxiliary magnet；
Third acquiring unit for the coordinate value according to the second auxiliary magnet and the ratio of the distance of the first auxiliary magnet, obtains
Take the coordinate value of target point.
Optionally, according to the above embodiments of the present application, above device further includes：
Determining module, for the volume of the dirigible balloonet belonging to determining target surface according to target surface；
Third acquisition module, for obtaining preset safe volume range；
Alarm module in the case of being not at safe volume range in the volume of dirigible balloonet, sends out alarm signal
Number.
Embodiment 3
The method of acquisition target surface provided according to embodiment 1, present invention also provides a kind of acquisition target surfaces
System, Fig. 6 are a kind of structure diagrams of the system of acquisition target surface according to embodiments of the present invention, which includes：
Two default light sources 60, for the emergent ray sent out.
Specifically, above-mentioned target surface is to need the surface of balloonet that monitors, in above-mentioned steps, can by camera Lai
Image of the acquisition containing multiple bright fringes.
In a kind of optional embodiment, above-mentioned multiple bright fringes can be split modulation to the emergent ray of light source
It obtains, since the emergent ray of light source can obtain spaced bright concealed wire, spaced bright concealed wire meeting by beam splitting modulation
It avoids forming multiple bright fringes, then the image formed using camera acquisition bright fringes in balloonet.
Image capture device 62, for acquiring the image for being incident upon on target surface and being generated by emergent ray, image packet
It includes：Bright fringes, target surface are the surface of balloonet.
Specifically, above-mentioned target point is used to determine target surface.
Herein it should be noted that the spacing of bright fringes is different, the dense degree for taking target point is also not necessarily identical, therefore
The monitoring accuracy of same target surface also can by bright fringes spacing and the dense degree of target point is taken to be influenced, taking
Target point it is more in the case of, the target surface monitored is more accurate, but since target point is more, calculation amount also compared with
Greatly, in the case where the target point of acquirement is less, the target surface monitored is inaccurate, but data calculation amount is smaller, because
This can obtain target point according to practical detection requirement.
Processor 64, is connected with image capture device, for taking multiple target points from the bright fringes in image；It obtains more
The coordinate value of a target point obtains target surface according to the coordinate value of multiple target points；And balloonet is determined according to target surface
Volume.
In above system, since light source is preset light source, the distance of light source and target surface be it is known,
After determining target point, can the coordinate value of each target point be calculated according to the distance between light source and target surface relationship,
In a kind of optional embodiment, the higher target surface of similarity can be directly obtained according to 3 D stereo reconstructing method.
Herein it should be noted that the environmental suitability that the method for the acquisition target surface that above-described embodiment provides is applicable in
Preferably, system building is simple, image procossing understands, of low cost.Other than being applied to the monitoring of dirigible balloonet, it can also answer
For making three-dimensionalreconstruction application under double light compensating lamp three-dimensional imaging cameras, dark room conditions etc..It can be played in these scenes
The effect that three-dimensionalreconstruction, solid picture-taking, target location monitoring, three-dimensional imaging reconstruct.
From the foregoing, it will be observed that the emergent ray that the application above system is sent out by presetting light source, is adopted by image capture device
The image that collection is incident upon on target surface and is generated by emergent ray, is connected by processor with image capture device, from image
In bright fringes on take multiple target points；The coordinate value of multiple target points is obtained, mesh is obtained according to the coordinate value of multiple target points
Mark song face；And the volume of balloonet is determined according to target surface.Said program ambient adaptability is strong, even if light source during use
It has greatly changed with the posture of camera, without calibration, and can effectively detect the situation of balloonet, the essence of monitoring
Degree can also meet actual demand.
Optionally, according to the above embodiments of the present application, above system further includes：Default light source is two light sources, is set to
In front of target surface, and with target surface interval pre-determined distance.
Claims (15)
- A kind of 1. method for obtaining target surface, which is characterized in that including：The image that acquisition is incident upon on target surface and is generated by light, described image include：Multiple bright fringes, wherein, it is described Light is the emergent ray that two default light sources are sent out, and is alternatively arranged respectively from the bright fringes of two default light sources；Multiple target points are taken from the bright fringes in described image；The coordinate value of the multiple target point is obtained, and the target surface is obtained according to the coordinate value of the multiple target point.
- 2. it according to the method described in claim 1, it is characterized in that, is incident upon on target surface and generated by light in acquisition Before image, the method further includes：The bright fringes is generated, wherein, the step of generating the bright fringes, includes：Two default light sources of setting interval pre-determined distance in front of the target surface；The emergent ray of default light source described to two is split modulation, and the emergent ray is made to form the multiple bright wisp Line.
- 3. according to the method described in claim 2, it is characterized in that, take multiple target points from the bright fringes in described image, Including：Equidistant straight line is taken to the described image of acquisition, wherein, the straight line intersects with the multiple bright fringes；The intersection point for determining the straight line and the bright fringes is the multiple target point.
- 4. according to the method described in claim 3, it is characterized in that, obtain the coordinate value of the multiple target point, including：Two default light sources are first light source and second light source, determine that first light source is original in two default light sources The line of point, the first light source and second light source be the first dimension, determine in preset plane with first dimension perpendicular Direction for the second dimension, wherein, the preset plane is what is determined by two default light sources and a target point to be measured Plane, the target point to be measured correspond to the bright fringes that the second light source is sent out；Coordinate system is established according to first dimension and second dimension；It chooses in a coordinate system bright in two bright fringes sent out by the first light source adjacent with the target point both sides For point as two the first auxiliary magnets, the second light source and the line of the target point and the intersection point of two articles of auxiliary lines are two the Two auxiliary magnets, wherein, two auxiliary lines are the first light source and the line of described two first auxiliary magnets；According to the coordinate value of described two second auxiliary magnets and described two first auxiliary magnets and the target point to be measured The proportionate relationship of distance obtains the coordinate value of the target point.
- 5. according to the method described in claim 4, it is characterized in that, according to the coordinate value of described two second auxiliary magnets and institute Two the first auxiliary magnets and the proportionate relationship of the distance of the target point to be measured are stated, obtain the coordinate value of the target point, packet It includes：Measure to obtain described two first auxiliary magnets to the ratio of the distance of the target point to be measured according to described image Example value；Using the ratio value of described two first auxiliary magnets to the distance of the target point to be measured as the described two second auxiliary It puts to the ratio value of the distance of the target point to be measured；According to the ratio of the coordinate value of described two second auxiliary magnets and described two second auxiliary magnets to the distance of the target point Example value, obtains the coordinate value of the target point to be measured.
- 6. method as claimed in any of claims 1 to 5, which is characterized in that the target surface is a dirigible The surface of balloonet.
- 7. according to the method described in claim 6, it is characterized in that, in the coordinate value for obtaining the multiple target point, and according to After the coordinate value of the multiple target point obtains the target surface, the method further includes：The volume of dirigible balloonet according to belonging to the target surface determines the target surface；Obtain preset safe volume range；In the case where the volume of the dirigible balloonet is not at the safe volume range, alarm signal is sent out.
- 8. the method according to the description of claim 7 is characterized in that two default light sources and the device for acquiring image It may be contained in the dirigible balloonet, the appearance of the dirigible balloonet according to belonging to the target surface determines the target surface Long-pending method includes：The curved surface is integrated using the distance of the target point on the curved surface to light source, obtains dirigible pair The internal capacity of air bag.
- 9. a kind of device for obtaining target surface, which is characterized in that including：Acquisition module, for acquiring the image for being incident upon on target surface and being generated by light, described image includes：Multiple bright wisps Line, wherein, the light is the emergent ray that two default light sources are sent out, respectively from the bright fringes of two default light sources It is alternatively arranged；First acquisition module, for taking multiple target points from the bright fringes in described image；Second acquisition module, for obtaining the coordinate value of the multiple target point, and according to the coordinate value of the multiple target point Obtain the target surface.
- 10. device according to claim 9, which is characterized in that described device further includes：Generation module, for acquiring Before the image for be incident upon on target surface and generated by light, the bright fringes is generated, wherein, the generation module includes：Setting unit, for two default light sources of the setting interval pre-determined distance in front of the target surface；Modulation unit, the emergent ray for default light source described to two are split modulation, form the emergent ray The bright fringes.
- 11. device according to claim 10, which is characterized in that first acquisition module includes：First acquisition unit takes equidistant straight line for the described image to acquisition, wherein, the straight line and the multiple bright wisp Line intersects；First determination unit, the intersection point for determining the straight line and the bright fringes is the multiple target point.
- 12. according to the devices described in claim 11, which is characterized in that two default light sources are first light source and the second light Source, second acquisition module include：Second determination unit, for determining in two default light sources that first light source is origin, the first light source and second The line of light source determines that in preset plane be the second dimension with the direction of first dimension perpendicular as the first dimension, In, the preset plane is the plane determined by two default light sources and a target point to be measured, the target to be measured Point corresponds to the bright fringes that the second light source is sent out, and the target point to be measured corresponds to one that the second light source is sent out Bright fringes；Unit is established, for establishing coordinate system according to first dimension and second dimension；Second acquisition unit is adjacent by the first light source with the target point both sides to be measured for choosing in a coordinate system Bright spot in two bright fringes sent out is as two the first auxiliary magnets, the line and two of the second light source and the target point The intersection point of auxiliary line is two the second auxiliary magnets, wherein, two auxiliary lines are the first light source and described first auxiliary Help line a little；Third acquiring unit, for the coordinate value according to second auxiliary magnet and first auxiliary magnet with it is described to be measured The ratio of the distance of target point obtains the coordinate value of the target point.
- 13. the device according to any one in claim 9 to 12, which is characterized in that described device further includes：Determining module, for the volume of the dirigible balloonet belonging to determining the target surface according to the target surface；Third acquisition module, for obtaining preset safe volume range；Alarm module in the case of being not at the safe volume range in the volume of the dirigible balloonet, sends out report Alert signal.
- 14. a kind of system for obtaining target surface, which is characterized in that including：Two default light sources, for the emergent ray sent out；Image capture device, for acquiring the image for being incident upon on target surface and being generated by the emergent ray, described image Including：Multiple bright fringes, the target surface are the surface of dirigible balloonet；Processor is connected with described image collecting device, for taking multiple target points from the bright fringes in described image；It obtains The coordinate value of the multiple target point obtains the target surface according to the coordinate value of the multiple target point；And according to described Target surface determines the volume of the dirigible balloonet.
- 15. system according to claim 14, which is characterized in that the system also includes：Two default light sources are set Be placed in front of the target surface, and with target surface interval pre-determined distance.
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|---|---|---|---|
| CN201611187536.4A CN108205817B (en) | 2016-12-20 | 2016-12-20 | Method, device and system for obtaining target curved surface |
| PCT/CN2017/091951 WO2018113257A1 (en) | 2016-12-20 | 2017-07-06 | Technical field of method, device and system for acquiring target curved surface |
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| CN201611187536.4A CN108205817B (en) | 2016-12-20 | 2016-12-20 | Method, device and system for obtaining target curved surface |
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| CN108205817B CN108205817B (en) | 2021-11-09 |
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| CN108205817B (en) | 2021-11-09 |
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