CN109993097A - Electric armour clamp surface inscription recognition methods based on structure light - Google Patents
Electric armour clamp surface inscription recognition methods based on structure light Download PDFInfo
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- CN109993097A CN109993097A CN201910232026.1A CN201910232026A CN109993097A CN 109993097 A CN109993097 A CN 109993097A CN 201910232026 A CN201910232026 A CN 201910232026A CN 109993097 A CN109993097 A CN 109993097A
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/22—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition
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Abstract
The present invention provides a kind of electric armour clamp surface inscription recognition methods based on structure light, and being somebody's turn to do the electric armour clamp surface inscription recognition methods based on structure light includes: step 1, and projection device projects grating fringe to the inscription position of electric armour clamp to be identified；Step 2, the deformation striped on fitting surface and reference planes is acquired with video camera, and striped picture is transmitted to terminal, demodulation process is carried out to it, obtains continuous phase；Step 3, the elevation information of fitting inscription is calculated according to triangulation, obtains the digitized video of electric armour clamp inscription；Step 4, inscription content is manually read from the digitized video of fitting inscription.The electric armour clamp surface inscription recognition methods help based on structure light solves the problems, such as that the inscription on many electric armour clamp surfaces causes manually to be difficult to check clear because of smaller or structural bending.
Description
Technical field
The present invention relates to electric armour clamp surface inscription technical fields, especially relate to a kind of electric power gold based on structure light
Has the recognition methods of surface inscription.
Background technique
Electric armour clamp is many kinds of, and purposes is different, for example, the various wire clamps of conducting wire, form each of insulator chain
Kind of link, various aluminium hydraulic pressed connecting pipes, the repair sleeve of connecting wire, various types of conductor spacers etc. on split conductor, in addition there are bars
All kinds of metal parts of pull wire of tower, and the size as protection conducting wire are related, must work in coordination.As caused by different purposes
Different process requirements, some electrical power fitting surface must have inscription, and the size of this inscription prints position due to device difference
It is different.The inscription on many smaller or structural bending electric armour clamp surfaces has the shortcomings that manually to be difficult to check clear.Therefore, how
Preferably identify that the minimum electric armour clamp surface inscription for being difficult to observe or print position inconvenience observation is of great significance.
In recent years, structured light three-dimensional imaging technology is furtherd investigate and is widely applied, and the technical solution generallyd use is to throw
One carrier coded fringes of shadow are to testee surface, using imaging device from another angle recordings by testee high modulation
Deforming stripe image, then digital demodulation reconstructs the 3-dimensional digital picture of testee from the deforming stripe figure of acquisition.With holography
Three-dimensional imaging is corresponding, and structured light three-dimensional imaging process is also two step imaging processes, first obtains what object was modulated by structural light stripes
Two dimensional image, then the 3-dimensional digital picture of object is obtained by digital reconstruction method from the two-dimensional image comprising deforming stripe.
Structured light technique is a kind of active optical measuring technique, according to the difference of projection pattern, the type point of structure light
For many kinds, simply there are luminous point, striation and smooth surface structure, the complicated optical design for having coding.Structure light is by projection device
It projects behind determinand surface by the high modulation of determinand, the structure light modulated is adopted through imaging sensor (such as video camera)
Collection, the 3 d shape data of measured object can be obtained by being sent in computer after analytical calculation.Wherein modulation system can be divided into the time
Modulation and spatial modulation two major classes.The most commonly used is time-of-flight method in time-modulation method, this method has recorded light pulse and exists
The flight time in space resolves the face shape information of determinand by the flight time；Modulating method be light field phase,
The properties such as light intensity can all be generated variation after the high modulation of determinand, can be obtained according to the variation for reading these properties to be measured
The face shape information of object.Three dimension profile measurement technology based on structure light is with non-contact, measuring speed is fast, precision is high and is easy to
The advantages that carrying out automatic measurement under computer control, is furtherd investigate and is widely used in machine vision, automation control
The necks such as processing, the automatic detection of industry, control of product quality, profiling in kind, biomedicine, three-dimensional animation and ideo display stunt production
Domain.
Currently, because of device when structure light the relevant technologies are measurement the problem of having reached the leading level in the world, be primarily present
Inevitable occlusion issue caused by structure.We have invented a kind of new electric armour clamp surfaces based on structure light thus
Inscription recognition methods solves the above technical problem.
Summary of the invention
The object of the present invention is to provide a kind of assistance manually preferably to check many smaller or structural bending electric armour clamps
The electric armour clamp surface inscription recognition methods based on structure light of the inscription on surface.
The purpose of the present invention can be achieved by the following technical measures: the electric armour clamp surface inscription identification based on structure light
Method, should electric armour clamp surface inscription recognition methods based on structure light include: step 1, projection device is to electric power to be identified
The inscription position of fitting projects grating fringe；Step 2, the deformation striped on fitting surface and reference planes is acquired with video camera,
And striped picture is transmitted to terminal, demodulation process is carried out to it, obtains continuous phase；Step 3, according to triangulation
The elevation information of fitting inscription is calculated, obtains the digitized video of electric armour clamp inscription；Step 4, manually from fitting inscription
Inscription content is read in digitized video.
The purpose of the present invention can be also achieved by the following technical measures:
In step 1, projection device projects grating fringe to the inscription position of electric armour clamp to be identified；Grating fringe by
The modulation of inscription recess heights, deformation occurs for grating fringe, generates deformation striped, i.e., the space that phase and amplitude are modulated carries
Wave signal.
In step 1, the line between projection device and electric armour clamp inscription position and horizontal plane are at set angle.
In step 1, the projection device of use is common projection device, and the inside of calibrating camera is needed before use
Parameter and external parameter, inner parameter include focal length, scale factor, distortion factor；External parameter includes the position and side of component
To.
In step 1, the grating fringe of projection belongs to area-structure light, is the sine streak generated by computer programming.
In step 2, deformation striped is acquired using video camera, and deformation striped is transferred to terminal and is demodulated
Processing, obtains phase information.
In step 2, the position of video camera, it is at an acute angle with horizontal plane.
In step 2, demodulation process includes:
(2-1): projecting reference planes with grating fringe, i.e., without the plane of inscription, video camera acquires the reference planes picture
It is transmitted to terminal, phase function φ0(x, y), then reference planes picture indicates are as follows:
In above formula, R (x, y) is the non-uniform reflectivity of body surface, i.e. optical image, gray scale including inscription surface and
Chrominance information, C indicate uniform projection light intensity；
(2-2): when projecting inscription surface with grating fringe, it is assumed that inscription surface is the three-dimensional for being distributed as h (x, y)
Surface, the phase function modulated as caused by height are φ1(x, y), then the collected deformed grating picture of video camera indicates are as follows:
In above formula, R (x, y) is the non-uniform reflectivity of body surface, i.e. optical image, gray scale including inscription surface and
Chrominance information, C indicate uniform projection light intensity；
(2-3): reference planes picture and deformed grating picture are demodulated with four step phase-shifting methods in terminal, demodulated
Phase difference φ between reference planes picture and deformed grating picture, calculating process are as follows:
The plot of light intensity of reference planes picture indicates are as follows:
I0=a+bcos φ0 (3)
In above formula, a is background light intensity, and b is modulation degree, φ0For the phase of reference planes；
Four step phase shifts are introduced, the plot of light intensity of deformation grating image may be expressed as:
In above formula, Δ φ is the phase difference of deformation grating image and reference planes picture；
Plot of light intensity by 4 width plot of light intensity of deformed grating picture respectively with reference planes picture is subtracted each other, and 4 width subtraction images are obtained:
In above formula,It for high-frequency noise, is filtered out by the methods of mean filter, by the light after filtering out
Strong figure does a square processing, obtains:
The tangent expression formula for obtaining phase difference by above formula (6) is as follows:
Phase difference can be obtained are as follows:
In step 3, according to principle of triangulation, the phase difference φ of point each on deformation grating image is brought into according to three
In the object phase relation that angular measurement principle is established, the height/depth distribution h of the corresponding points of fitting surface inscription is calculated, is obtained
Calculation formula is as follows:
In above formula, parameter n0、n1、d0、d1It is 3 × 1 column vector；For the homogeneous coordinates of camera pixel position；Zref
For the absolute coordinate of reference planes picture.
The electric armour clamp surface inscription recognition methods based on structure light in the present invention is identified minimum using structured light technique
Be difficult to observe or print the electric armour clamp surface inscription of position inconvenience observation, help to solve the inscription on many electric armour clamp surfaces because
Cause manually to be difficult to check clear problem for smaller or structural bending.
Detailed description of the invention
Fig. 1 is the process of a specific embodiment of the electric armour clamp surface inscription recognition methods of the invention based on structure light
Figure；
Fig. 2 is to carry out the knowledge of the electric armour clamp surface inscription based on structure light using equipment in a specific embodiment of the invention
The structure chart of other method.
Specific embodiment
To enable above and other objects, features and advantages of the invention to be clearer and more comprehensible, preferably implementation is cited below particularly out
Example, and cooperate shown in attached drawing, it is described in detail below.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
The flow chart for the electric armour clamp surface inscription recognition methods based on structure light that as shown in FIG. 1, FIG. 1 is of the invention.
Electric armour clamp surface inscription recognition methods based on structure light, comprising:
Step (1): projection device projects grating fringe to the inscription position of electric armour clamp to be identified；Grating fringe is engraved
The modulation of literary recess heights, deformation occurs for grating fringe, the spatial carrier that generation deformation striped, i.e. phase and amplitude are modulated
Signal.Line and horizontal plane between projection device and electric armour clamp inscription position is at set angle.
Projection device, refers to common projection device, needed before use calibrating camera inner parameter (such as focal length,
Scale factor, distortion factor) and external parameter (position and direction of component)；
The grating fringe of projection, the grating fringe belong to area-structure light, are the sine streaks generated by computer programming.
Step (2): acquiring deformation striped using video camera, and deformation striped is transferred to terminal carries out solution and mediate
Reason, obtains phase information.The position of video camera, it is at an acute angle with horizontal plane, 40 ° can be chosen.
Demodulation process, specific step are as follows:
(2-1): being projected reference planes (plane of no inscription) with grating fringe, and video camera acquires reference planes picture biography
Transport to terminal, phase function φ0(x, y), then reference planes picture may be expressed as:
In above formula, R (x, y) is the non-uniform reflectivity of body surface, i.e. optical image, gray scale including inscription surface and
Chrominance information, C indicate uniform projection light intensity；
(2-2): when projecting inscription surface with grating fringe, it is assumed that inscription surface is the three-dimensional for being distributed as h (x, y)
Surface, the phase function modulated as caused by height are φ1(x, y), then the collected deformed grating picture of video camera can indicate
Are as follows:
In above formula, R (x, y) is the non-uniform reflectivity of body surface, i.e. optical image, gray scale including inscription surface and
Chrominance information, C indicate uniform projection light intensity；
(2-3): reference planes picture and deformed grating picture are demodulated with four step phase-shifting methods in terminal, demodulated
Phase difference φ between reference planes picture and deformed grating picture, calculating process are as follows:
The plot of light intensity of reference planes picture may be expressed as:
I0=a+bcos φ0 (3)
In above formula, a is background light intensity, and b is modulation degree, φ0For the phase of reference planes；
Four step phase shifts are introduced, the plot of light intensity of deformation grating image may be expressed as:
In above formula, Δ φ is the phase difference of deformation grating image and reference planes picture；
Plot of light intensity by 4 width plot of light intensity of deformed grating picture respectively with reference planes picture is subtracted each other, and 4 width subtraction images are obtained:
In above formula,For high-frequency noise, generally filtered out by the methods of mean filter, after filtering out
Plot of light intensity do square processing, obtain:
The tangent expression formula that phase difference can be obtained by above formula (6) is as follows:
Phase difference can be obtained are as follows:
Step (3): the elevation information of fitting inscription being calculated according to triangulation, obtains the three of electric armour clamp inscription
Dimension word image.The elevation information of fitting inscription is calculated according to triangulation, obtains the optics shadow of electric armour clamp inscription
The specific steps of picture are as follows:
According to principle of triangulation, the phase difference φ of point each on deformation grating image is brought into according to principle of triangulation
In the object phase relation (formula) of foundation, the height/depth distribution h of the corresponding points of fitting surface inscription can be calculated, is obtained
Calculation formula is as follows:
In above formula, parameter n0、n1、d0、d1It is 3 × 1 column vector；For the homogeneous coordinates of camera pixel position；Zref
For the absolute coordinate of reference planes picture.
Height distribution h (x, y) is calculated by above formula (9), to obtain three dimensions on fitting inscription surface in step (4)
Word image, shows related text, interprets for staff.
In one embodiment, structured light technique is mainly based upon using the inscription on structured light technique identification electric armour clamp surface
Phase method.As shown in Fig. 2, its basic principle is, grating pattern is generated by modes such as computer programmings, and projection device is by light
Gate pattern, which projects electric armour clamp surface, to be had at inscription, and by the modulation of inscription recess heights, deformation occurs for grating fringe, this change
Shape striped may be interpreted as the spatial carrier signal that phase and amplitude are modulated.It is acquired and is become from another angle shot using video camera
Shape striped and it is demodulated, the available phase information comprising elevation information, finally according to triangulation principle
The three-dimensional digital image of electric armour clamp inscription is reconstructed by analytical Calculation, to identify the inscription on electric armour clamp.
Machine vision, automation are furtherd investigate and are widely used in measurement and recognition methods based on structured light technique
Control processing, the automatic detection of industry, control of product quality, profiling in kind, biomedicine, three-dimensional animation and ideo display stunt production etc.
Field.
With the technologies such as Digital Signal Processing and its further development in relation to device and equipment, the related technology of structure light
And application will towards at high speed, high-precision direction develop, imaging object will be sent to development towards large scale and micro-structure.Especially
Its application of current structured light technique in terms of three-dimensional imaging, establishes true three-dimensional world and the virtual 3-dimensional digital world
Connection, therefore have broad application prospects.It is contemplated that structure light the relevant technologies are in industry, medicine, culture, amusement etc.
Field will play an increasingly important role.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (9)
1. the electric armour clamp surface inscription recognition methods based on structure light, which is characterized in that should the electric armour clamp based on structure light
Surface inscription recognition methods includes:
Step 1, projection device projects grating fringe to the inscription position of electric armour clamp to be identified；
Step 2, the deformation striped on fitting surface and reference planes is acquired with video camera, and striped picture is transmitted to computer end
End, carries out demodulation process to it, obtains continuous phase；
Step 3, the elevation information of fitting inscription is calculated according to triangulation, obtains the digital shadow of electric armour clamp inscription
Picture；
Step 4, inscription content is manually read from the digitized video of fitting inscription.
2. the electric armour clamp surface inscription recognition methods according to claim 1 based on structure light, which is characterized in that in step
In rapid 1, projection device projects grating fringe to the inscription position of electric armour clamp to be identified；Grating fringe is by inscription recess heights
Modulation, deformation occurs for grating fringe, generates deformation striped, i.e. the spatial carrier signal modulated of phase and amplitude.
3. the electric armour clamp surface inscription recognition methods according to claim 1 based on structure light, which is characterized in that in step
In rapid 1, the line and horizontal plane between projection device and electric armour clamp inscription position are at set angle.
4. the electric armour clamp surface inscription recognition methods according to claim 1 based on structure light, which is characterized in that in step
In rapid 1, the projection device of use is common projection device, and the inner parameter and outside ginseng of calibrating camera are needed before use
Number, inner parameter includes focal length, scale factor, distortion factor；External parameter includes the position and direction of component.
5. the electric armour clamp surface inscription recognition methods according to claim 1 based on structure light, which is characterized in that in step
In rapid 1, the grating fringe of projection belongs to area-structure light, is the sine streak generated by computer programming.
6. the electric armour clamp surface inscription recognition methods according to claim 1 based on structure light, which is characterized in that in step
In rapid 2, deformation striped is acquired using video camera, and deformation striped is transferred to terminal and carries out demodulation process, obtain phase
Position information.
7. the electric armour clamp surface inscription recognition methods according to claim 1 based on structure light, which is characterized in that in step
In rapid 2, the position of video camera is at an acute angle with horizontal plane.
8. the electric armour clamp surface inscription recognition methods according to claim 1 based on structure light, which is characterized in that in step
In rapid 2, demodulation process includes:
(2-1): projecting reference planes with grating fringe, i.e., without the plane of inscription, video camera acquires reference planes picture transmission
To terminal, phase function φ0(x, y), then reference planes picture indicates are as follows:
In above formula, R (x, y) is the non-uniform reflectivity of body surface, i.e. optical image, gray scale and coloration including inscription surface
Information, C indicate uniform projection light intensity；
(2-2): when projecting inscription surface with grating fringe, it is assumed that inscription surface is the three-dimensional table for being distributed as h (x, y)
Face, the phase function modulated as caused by height are φ1(x, y), then the collected deformed grating picture of video camera indicates are as follows:
In above formula, R (x, y) is the non-uniform reflectivity of body surface, i.e. optical image, gray scale and coloration including inscription surface
Information, C indicate uniform projection light intensity；
(2-3): reference planes picture and deformed grating picture are demodulated with four step phase-shifting methods in terminal, demodulate reference
Phase difference φ between image plane and deformed grating picture, calculating process are as follows:
The plot of light intensity of reference planes picture indicates are as follows:
I0=a+bcos φ0(3)
In above formula, a is background light intensity, and b is modulation degree, φ0For the phase of reference planes；
Four step phase shifts are introduced, the plot of light intensity of deformation grating image may be expressed as:
In above formula, Δ φ is the phase difference of deformation grating image and reference planes picture；
Plot of light intensity by 4 width plot of light intensity of deformed grating picture respectively with reference planes picture is subtracted each other, and 4 width subtraction images are obtained:
In above formula,It for high-frequency noise, is filtered out by the methods of mean filter, by the plot of light intensity after filtering out
A square processing is done, is obtained:
The tangent expression formula for obtaining phase difference by above formula (6) is as follows:
Phase difference can be obtained are as follows:
9. the electric armour clamp surface inscription recognition methods according to claim 8 based on structure light, which is characterized in that in step
In rapid 3, according to principle of triangulation, the phase difference φ of point each on deformation grating image is brought into and is built according to principle of triangulation
In vertical object phase relation, the height/depth distribution h of the corresponding points of fitting surface inscription is calculated, obtained calculation formula is as follows:
In above formula, parameter n0、n1、d0、d1It is 3 × 1 column vector；For the homogeneous coordinates of camera pixel position；ZrefFor ginseng
Examine the absolute coordinate of image plane.
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