CN110332894A - A kind of untouchable measurement method of dam surface displacement based on binocular vision - Google Patents
A kind of untouchable measurement method of dam surface displacement based on binocular vision Download PDFInfo
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- CN110332894A CN110332894A CN201910621204.XA CN201910621204A CN110332894A CN 110332894 A CN110332894 A CN 110332894A CN 201910621204 A CN201910621204 A CN 201910621204A CN 110332894 A CN110332894 A CN 110332894A
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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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- 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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/03—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring coordinates of points
-
- 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
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
Abstract
The invention discloses a kind of, and the dam surface based on binocular vision is displaced untouchable measurement method, belongs to dam surface displacement monitoring field, is related to some Digital Image Processing.This method mainly utilizes binocular vision 3 D measurement technology, and artificial target's body is arranged in dam surface first；Next dam surface image is acquired using binocular camera；Then such as using image processing method: image gray processing, image enhancement, median filtering, image segmentation, edge detection and least square ellipse fitting algorithm；The transformational relation that binocular camera is demarcated between inside and outside parameter and two camera coordinates systems is obtained by Zhang Zhengyou calibration method again；Dam surface signage 3 d space coordinate finally is obtained using binocular camera three-dimensional measurement principle, the space coordinate using same signage in different moments acquires dam surface displacement indirectly.For the present invention by binocular vision 3 D measurement technical application to dam surface displacement measurement, this method has many advantages, such as that at low cost, measurement accuracy is higher.
Description
Technical field
The present invention relates to measurement method technical field, specially a kind of dam surface displacement based on binocular vision is non-contact
Property measurement method.
Background technique
In order to adjust water resource assignment unevenness, reasonably optimizing water resource space-time is configured, up to the present, the built dykes and dams in China
About 8.7 ten thousand, become qualified Ba Gong big country, these dams play a significant role in economic construction and social development.
However, some dams due to construction technology, topography and geomorphology, climatic factor and dam Years Of Service etc., occur to burst
Dam accident causes serious life and property loss to society and the people.Therefore reservoir dam safety and people, which live, ceases manner of breathing
It closes, dam safety monitoring can reflect the operating status of dam in real time, have safely to protection the people's lives and property important
Meaning.
Dam safety monitoring mainly analyzes the safety of dam in conjunction with Conventional wisdom by the measurement being displaced to dam body
Operating status.Currently, common dam body displacement measurement method has contact measurement method and contactless measurement.It connects
Touch measurement method needs for sensor to be placed in dam body, and to the more demanding of sensor element, and later maintenance is not easy reality
It applies, therefore is not used widely.Contactless measurement mainly has geodesic method, GPS technology mensuration, synthesis hole
Diameter Radar Technology (InSAR) mensuration etc..Wherein geodesic method is a kind of traditional measurement method, when in a certain number of observations
When point, available high-precision measurement result, but be difficult to meet real-time dynamic monitoring objective, while also needing to expend a large amount of
Man power and material.GPS technology mensuration can obtain high-precision observation data, realization dynamically carries out data transmission in real time,
Processing, management, analysis and forecast, and promotion and application are obtained in more and more deformation monitoring projects, this method is still only
It is confined to single-point monitoring, only considered monitoring point and its neighbouring limited range, is not accounted between each monitoring point and big
The deformation and trend of dam entire scope.Synthetic aperture radar technique (InSAR) is recently using more.Wherein spaceborne InSAR
Monitoring is substantially more expensive, and the observation cycle time is long；Airborne InSAR monitoring needs carry out dam body by aircraft etc. periodic
Monitoring, operation is more more complicated, cannot achieve the purpose that Monitor in time；Ground InSAR monitoring method observation time is shorter,
Much smaller than a few days or a few weeks of spaceborne InSAR, the arrangement of instrument and equipment is limited by dam field environmental condition.
Binocular vision 3 D measurement technology positions close-in target device, dimensional measurement has preferable measurement accuracy.
In recent years, lot of domestic and international scholar also starts the technical method being applied to field of civil engineering, such as landslide displacement monitoring, dew
The monitoring of its mining area edge dislocation and highway bridge monitoring etc..
Summary of the invention
The purpose of the present invention is to provide a kind of, and the dam surface based on binocular vision is displaced untouchable measurement method, with
Solve the problems mentioned above in the background art.
To achieve the above object, the invention provides the following technical scheme: fixed artificial target is arranged in dam surface first
Body；Next dam surface image is acquired using binocular camera；Then such as using image processing method: image gray processing, image
Enhancing, median filtering, image segmentation, edge detection and least square ellipse fitting algorithm etc.；Pass through Zhang Zhengyou calibration method again
Obtain the transformational relation between binocular camera calibration inside and outside parameter and two camera coordinates systems；Finally utilize binocular camera three-dimensional measurement
Principle obtains dam surface signage 3 d space coordinate, and the space coordinate using same signage in different moments acquires mark
Body displacement, and then dam surface displacement is obtained, to realize the purpose of dam displacement measurement monitoring.Wherein main packet
Include dam body Image Acquisition part, dam body image preprocessing part, dam body logos body extraction position portion, camera calibration portion
Divide, three-dimensional measurement part composition.
It includes: artificial setting identifying body, model identical two industrial cameras, A-frame, numbers that dam body image acquisition part, which is divided to,
According to transmission cable, power supply, laptop.In the fixed identifying body being manually arranged of dam surface, two industrial cameras composition
Binocular camera is connected to laptop, by collected dam body image transmitting to laptop.Laptop uses
Matlab software, provides human-computer interaction interface, receives binocular camera acquired image and preserves, and is used for post-processing.
Power supply uses high capacity polymer lithium battery, and stable power supply is provided for binocular camera.
Dam body image preprocessing section point includes: to carry out image gray processing, image enhancement, image to the dam body image of acquisition
It makes an uproar processing operation.Image gray processing can reduce image occupied space under the conditions of not losing image main information, increase the later period
Image processing speed.Image enhancement keeps the main information in image more prominent.Image denoising processing is for removing the height in image
This noise and salt-pepper noise obtain clear target image, are convenient for later image processing operation.
It includes: to pass through image segmentation, mathematics shape to after dam body image preprocessing that dam body logos body, which extracts position portion,
State operation, edge detection and least square ellipse fitting algorithm carry out pixel coordinate positioning to dam body logos body.Image
Segmentation comes out background in image with Target Segmentation, calculates different target region area size, extracts the signage in image
Surface area.Mathematical morphology operation keeps the signage edges of regions extracted rounder and more smooth.Edge detection is for detecting image
In each signage edge.Least square ellipse fitting algorithm is marked by the method for least square combination ellipse fitting
The central point pixel coordinate of will body, the i.e. coordinate setting of complement mark volumetric pixel.Simultaneously to signage in figure according to certain sequence into
Row number.
Camera calibration part includes: left and right camera calibration, stereo calibration.Left and right camera calibration mainly passes through calibration and obtains
The transformational relation of image pixel coordinates and 3 d space coordinate obtains the inside and outside parameter of camera.Stereo calibration mainly obtains
Transformational relation between the camera coordinates system of left and right, i.e. translation matrix and spin matrix.
Three-dimensional measurement part includes: the universal model of binocular camera three-dimensional measurement.Left and right figure is obtained in dam body image procossing
Indicate that volumetric pixel coordinate, camera calibration obtain between left and right camera inside and outside parameter and camera coordinates system after transformational relation as in.It can
To obtain the 3 d space coordinate of signage using the three-dimensional measurement principle of binocular camera.According to same signage in different moments
Space coordinate can find out signage displacement, and then obtain dam surface displacement.
The dam surface that the present invention provides a kind of based on binocular vision is displaced untouchable measurement method, and having following has
Beneficial effect:
(1) real-time measurement of dam body surface displacement may be implemented in the present invention, mostly compared to traditional measurement method
Periodic measurement is carried out according to certain period of time, this method has better timeliness.
(2) after the present invention only needs signage being fixed on dam surface, so that it may realize remote monitor, untouchable
Measurement, operates with more convenient.
(3) grade measurement accuracy may be implemented in measurement method of the present invention, and cost is relatively low needed for this method, Ke Yijie
Save more human and material resources.
Detailed description of the invention
Fig. 1 is implementation flow chart of the invention；
Fig. 2 is dam body image preprocessing flow chart of the present invention；
Fig. 3 is that dam body logos body of the present invention extracts positioning flow figure；
Fig. 4 is three-dimensional measurement technical schematic diagram of the present invention；
Fig. 5 is three-dimensional measurement process flow diagram flow chart of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figs. 1-5 it is the implementation flow chart of this method, specific step is as follows for method:
(1) two identical domestic 2,000,000 pixel of Daheng (1628x1236) kilomega network industrial cameras of preparation, two
100mm focal length lens, camera trivets one, laptop, data transmission network line etc..Connect into a binocular camera
Measuring system, in the fixed signage manually set in the dam surface position of simulation.Here it uses and prints circular indicia body
On white paper.Computer matlab software is opened, two cameras of adjustment to signage region distance are 40m, are set between two cameras
Distance be 0.35m, so that the collected dam body image of two cameras is contained signage.Using high capacity polymer lithium battery to two
Camera power supply.
(2) image preprocessing process is carried out to collected dam body image, as shown in Figure 2.Mean value method is to dam body first
Image carries out gray processing processing, then carries out enhancing processing to dam body image with histogram equalization method, makes to indicate body region more
It is prominent, denoising then is carried out to dam body image with median filter method, remove in image Gaussian noise that may be present with
Salt-pepper noise.
(3) pixel coordinate positioning is extracted to the signage in dam body image, process is as shown in Figure 3.First with the overall situation
Threshold value Otsu method carries out image segmentation, background in image and target area is separated, while different target is divided into different zones,
Mark body region is extracted by region area size, then keeps signage edge smoother using mathematical morphology closed operation,
Detect signage edge with Canny edge detection operator, later with least square ellipse fitting algorithm to signage edge into
Row ellipse fitting obtains signage central point pixel coordinate.Simultaneously to the signage in image according to first from top to bottom, then from
Left-to-right serial number, and successively sequence exports its signage central point pixel coordinate.
(4) left and right camera is demarcated, makes the scaling board of the identical square composition 12 × 9 of chequered with black and white size,
Index point areas adjacent is placed it in, keeps two camera distance and positions constant, only changes scaling board direction, acquires 12 groups of photographs
Piece.Calibration experiment is carried out with Zhang Zhengyou calibration algorithm, obtains left and right camera intrinsic parameter, while left and right phase is obtained by stereo calibration
Transformational relation between machine.
When dam body logos body positions output pixel coordinate, pixel coordinate is sequentially output according to the specified sequence of signage
's.Therefore mark volumetric pixel coordinate is to be corresponding in turn to relationship in the left and right camera image of output, meets left images sequence consensus
Property matching method.At this point, obtaining mark volumetric pixel coordinate and camera calibration parameter in left images, surveyed in conjunction with binocular vision 3 D
Principle is measured, as shown in figure 4, can be in the hope of the 3 d space coordinate of these signages, then according to same signage when different
Space coordinate is carved, finds out signage displacement, and then obtain dam surface displacement, and the results are shown in human-computer interactions
Interface.Its process is as shown in Figure 5.
More than, it is merely preferred embodiments of the present invention, but scope of protection of the present invention is not limited thereto, it is any
Those familiar with the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its invents
Design is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (7)
1. a kind of dam surface based on binocular vision is displaced untouchable measurement method, which is characterized in that including dam body image
Collecting part, dam body image preprocessing part, dam body logos body extract position portion, camera calibration part, three-dimensional measurement
Part, in which:
It includes: artificial setting identifying body, identical two industrial cameras of model, A-frame, data biography that dam body image acquisition part, which is divided to,
Defeated cable, power supply, laptop.In the fixed identifying body being manually arranged of dam surface, two industrial cameras form binocular
Camera is connected to laptop, by collected dam body image transmitting to laptop.Laptop uses matlab
Software provides human-computer interaction interface, receives binocular camera acquired image and preserves, and is convenient for subsequent processing.Power supply electricity
Source uses high capacity polymer lithium battery, and stable power supply is provided for binocular camera.
Dam body image preprocessing section point includes: to carry out image gray processing, image enhancement, at image denoising to the dam body image of acquisition
Reason operation.Image gray processing can reduce image occupied space under the conditions of not losing image main information, increase later image
Processing speed.Image enhancement keeps the main information in image more prominent.Gauss of the image denoising processing for removing in image makes an uproar
Sound and salt-pepper noise obtain clear target image, are convenient for later image processing operation.
It includes: to pass through image segmentation, mathematical morphology to after dam body image preprocessing that dam body logos body, which extracts position portion,
Operation, edge detection and least square ellipse fitting algorithm carry out pixel coordinate positioning to dam body logos body.Image segmentation
Background in image is come out with Target Segmentation, different target region area size is calculated, extracts the mark bulk area in image
Region.Mathematical morphology operation keeps the signage edges of regions extracted rounder and more smooth.Edge detection is each in image for detecting
The edge of a signage.Least square ellipse fitting algorithm is to obtain signage by the method for least square combination ellipse fitting
Central point pixel coordinate, i.e. complement mark volumetric pixel coordinate setting.Signage in figure is compiled according to certain sequence simultaneously
Number.
Camera calibration part includes: left and right camera calibration, stereo calibration.Left and right camera calibration mainly passes through calibration and obtains image
The transformational relation of pixel coordinate and 3 d space coordinate obtains the inside and outside parameter of camera.Stereo calibration is mainly controlled
Transformational relation between camera coordinates system, i.e. translation matrix and spin matrix.
Three-dimensional measurement part includes: the universal model of binocular camera three-dimensional measurement.It is obtained in left images in dam body image procossing
Signage pixel coordinate, camera calibration obtain between left and right camera inside and outside parameter and two camera coordinates systems after transformational relation.It can be with
The 3 d space coordinate of signage is obtained using the three-dimensional measurement principle of binocular camera.According to same signage in different moments sky
Between coordinate, signage displacement can be found out, and then obtain dam surface displacement.
2. a kind of dam surface based on binocular vision according to claim 1 is displaced untouchable measurement method, special
Sign is that setting artificial target's body, artificial target's body is designed as circle, and circle marker body is ok from the point of view of from different directions
Regard ellipse as, is positioned convenient for later period signage.Color uses black, highlights from ambient enviroment convenient for signage.
Signage is placed on white material simultaneously, and purpose makes signage avoid being sticked together with ambient enviroment in extraction.
3. a kind of dam surface based on binocular vision according to claim 1 is displaced untouchable measurement method, special
Sign is that the matlab acquisition software is built human-computer interaction interface using matlab software on laptop, passed through
The interface can acquire dam body image in real time, while can carry out processing operation to the image of acquisition, obtain signage in image
Space coordinate, and then show dam surface displacement.
4. a kind of dam surface based on binocular vision according to claim 1 is displaced untouchable measurement method, special
Sign is that dam body image preprocessing part obtains its gray level image using mean value method to the dam body image of acquisition, uses
Histogram equalization method carries out enhancing processing to image, removes Gaussian noise and salt-pepper noise in image with median filtering method,
Obtain clearly dam body image.
5. a kind of dam surface based on binocular vision according to claim 1 is displaced untouchable measurement method, special
Sign is that described image signage extracts position portion, which carries out image segmentation using global threshold Otsu method, by image
Middle background and target area separate, while different target is divided into different zones, extract signage by region area size
Region, keeps signage edge smoother using mathematical morphology closed operation, detects signage side with Canny edge detection operator
Edge carries out ellipse fitting to signage edge with least square ellipse fitting algorithm, obtains the higher signage central point of precision
Pixel coordinate.Simultaneously to the signage in image according to first from top to bottom, then sequence from left to right carries out number consecutively, most
The successively pixel coordinate of these signages of Sequential output afterwards.
6. a kind of dam surface based on binocular vision according to claim 1 is displaced untouchable measurement method, special
Sign is that the camera calibration part, the part carries out calibration to camera using Zhang Zhengyou calibration method and obtains camera inside and outside parameter,
Zhang Zhengyou proving operation is simple and convenient, while stated accuracy is higher；Stereo calibration utilizes left and right camera inside and outside parameter, is controlled
Transformational relation between camera coordinates system.
7. a kind of dam surface based on binocular vision according to claim 1 is displaced untouchable measurement method, special
Sign is that the three-dimensional measurement part, the part uses the universal model of binocular vision 3 D measurement, three-dimensional measurement under the model
The optical axis for not needing two cameras is parallel, is placed with bigger selection space to binocular camera.In conjunction with the signage or so of acquisition
Camera pixel coordinate and camera calibration parameter, can obtain the three dimensional space coordinate of signage.
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Application publication date: 20191015 |