CN111442817A - Non-contact structured light binocular vision sewage level measuring device and method - Google Patents
Non-contact structured light binocular vision sewage level measuring device and method Download PDFInfo
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Abstract
The invention discloses a non-contact structured light binocular vision sewage level measuring device and a non-contact structured light binocular vision sewage level measuring method. The device adopts an integrated structure design, is convenient for field installation, has high reliability and strong adaptability, is easy to popularize, the structural light generator irradiates coded light with a characteristic value, the power of the structural light generator is adjusted according to environmental changes to adapt to different sewage treatment environmental requirements, the whole device can carry out measurement by changing different angles, self-verification of sewage level measurement is realized according to different measurement results, and the accuracy and reliability of the measurement results are ensured.
Description
Technical Field
The invention relates to a non-contact structured light binocular vision sewage level measuring device and method, and belongs to the technical field of social network analysis.
Background content
Along with the rapid development of economy and the expansion of urban districts, the urban population is increased rapidly, the urban sewage is more and more, the actual demand cannot be met by only depending on the automatic purification of a water body, and the sewage treatment level of a sewage treatment plant is directly related to the living conditions of the whole urban environment. In the process of sewage treatment, sewage water level measurement is an important link of sewage treatment, and the measurement is directly related to the instantaneous flow of sewage and the dosage of sewage to be matched. Meanwhile, as the urban digitization process is accelerated, the real-time information of the sewage level needs to be updated in time, and the research on the economic and feasible digital sewage level measuring device is imperative.
At present, the commonly used water level monitoring is mainly by contact monitoring and non-contact monitoring. The contact type monitoring mainly adopts a water gauge, a floater type, a pressure type and other methods for measurement, and the non-contact measurement mainly adopts an ultrasonic water level meter and a radar water level meter. Because municipal sewage has strong corruption, high attached, strong impact and volatile gaseous isopenistic factor, and float type level gauge can not measure viscous medium, the high attached environment of sewage very easily causes the floater or turns over board (post) card and die, the impact of sewage also can make equipment mechanical structure's damage, causes the level measurement mistake, pressure type level gauge need install in the bottom, because the adhesive action and the viscosity change of sewage, lead to measuring inaccurate, need frequent maintenance, installation and debugging simultaneously are inconvenient. For non-contact measurement, ultrasonic measurement is greatly influenced by the environment, the cost is high, large-scale putting is not facilitated, liquid level measurement can be achieved by the method of adopting the image recognition water gauge, but the sewage treatment environment is complex, volatile gas is more, illumination is uneven, and measurement accuracy and accuracy cannot be guaranteed.
Disclosure of Invention
The invention overcomes the defects in the prior art and discloses a non-contact structured light binocular vision sewage level measuring device and method. The device adopts an integrated structure design, is convenient for field installation, has high reliability and strong adaptability, is easy to popularize, the structural light generator irradiates coded light with a characteristic value, the power of the structural light generator is adjusted according to environmental changes to adapt to different sewage treatment environmental requirements, the whole device can carry out measurement by changing different angles, self-verification of sewage level measurement is realized according to different measurement results, and the accuracy and reliability of the measurement results are ensured.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the utility model provides a two mesh vision sewage water level measuring device of non-contact structured light, includes rotary robot, and rotary robot includes base 1, and the coupling has horizontal rotation's rotatory frame 2 on the base 1, and the coupling has vertical rotatory every single move axle 3 on the rotatory frame 2, and every single move axle 3 is connected with horizontal migration axle 4, is fixed with two visual device 5 and a structured light generator 6 that are in different positions on the horizontal migration axle 4.
In a further improvement, the rotary machine base 2 is driven to rotate by a first motor 9; the pitch shaft 3 is rotated by a second motor 10.
Further improvement, horizontal migration axle 4 includes smooth section of thick bamboo 41, and sliding connection has end connecting rod 42 in smooth section of thick bamboo 41, and end connecting rod 42 one end threaded connection has screw rod 43, and the other end is connected with mount pad 7, and screw rod 43 is connected with third motor 44, installs limit switch 45 on the smooth section of thick bamboo 41.
In a further improvement, the mounting base 7 is formed with a long hole guide rail 8 for mounting the vision device 5 and the structured light generator 6.
In a further improvement, the first motor 9, the second motor 10, the third motor 44, the vision device 5 and the structured light generator 6 are connected with the equipment control cabinet 11 in a wired or wireless mode.
In a further improvement, the vision device 5 is an industrial camera.
A non-contact structured light binocular vision sewage level measurement method comprises the following steps:
step one, aligning two visual devices 5 at different positions and a structural light generator 6 to the water surface, emitting characteristic stripe structure light 12 to the water surface by the structural light generator 6, and respectively photographing by the two visual devices 5 to obtain the central point of the characteristic stripe structure light on the water surface;
step two, coordinate points of the central point of the characteristic stripe structure light on the images obtained by the two vision devices 5 are A (x) respectively1,y1,z1) And B (x)2,y2,z2) Then, the first step is executed,
theta represents an included angle between the characteristic stripe structure light and the sewage liquid level;
knowing the actual coordinates of points A and B in the two vision devices, the binocular vision baseline center point H (x)In,yIn,zIn) Corresponding distance z to the liquid surfaceIn：
The vertical distance from the top of the rotary robot to the liquid level is as follows:
a represents the extension and contraction length of the horizontal movement shaft 4;
according to the angle of the current pitch axis, the angle theta between the characteristic stripe structure light emitted by the current structure light generator 6 and the horizontal plane is obtained1According to the right triangle, the following are obtained:
l1the height of the top point of the device from the sewage liquid level is shown;
the height of the center from the bottom surface is l under the condition that the horizontal moving shaft of the whole rotary robot is kept in a horizontal state, and the assumed height of the liquid level is l2Then, the actual height of the liquid level is obtained as:
in a further development, the position of the vision device 5 and the structured light generator 6 is changed and a plurality of times l are measured continuously2Then take l2The average value of (d) is taken as the actual height of the final liquid level.
In a further improvement, the center point of the characteristic stripe structure light is obtained as follows: filtering the image shot by the vision device 5, repeatedly traversing the image for 2-3 times of spatial filtering after median filtering, removing the noise points left after coarse extraction to obtain the area of the image occupied by the structural coding light, then extracting the sub-pixel precision level of the region of the image occupied by the structural coded light, subdividing each pixel in the region, filling the subdivided region by a bilinear interpolation method, then, carrying out cyclic search to find out the gray maximum value pixel point of each line, aiming at the gray maximum value pixel point and two adjacent pixel points at two sides of the gray maximum value pixel point according to the least square principle, and performing quadratic curve fitting through parabolic fitting or Gaussian curve, solving a maximum value point as a central point of the coded structured light to obtain a central point of the characteristic stripe structured light, and then performing image matching to find out the positions of the same target point in the two visual devices 5.
In a further refinement, the characteristic fringe-structured light is the only characteristic fringe-structured light.
The advantages of the invention are as follows:
1. the device is innovative: the invention relates to a non-contact structured light stereoscopic vision sewage level measuring device which comprises a binocular vision unit, a structural characteristic coded light, a horizontal moving shaft, a pitching shaft, a rotating base and the like, wherein a set of sewage level measuring device is formed, and no related device is available. The device adopts the integrated structure design, is convenient for field installation, and has high reliability, strong adaptability and easy popularization.
2. The method is innovative:
(1) the structured light generator irradiates coded light with characteristic values, and the power of the structured light generator is adjusted according to environmental changes to adapt to different sewage treatment environmental requirements.
(2) The method comprises the steps of establishing a measurement mathematical model by combining a rotary robot with binocular vision, extracting characteristic values of coded light according to image acquisition and image matching, analyzing by combining the current angle of the rotary robot, combining the distance of a software processing result with the distance of actual movement of hardware, and improving the detection precision of the sewage level.
(3) The whole device can measure through changing different angles, self-verification of sewage water level measurement is achieved according to different measurement results, and accuracy and reliability of the measurement results are guaranteed.
Drawings
Fig. 1 is a block diagram of a system configuration.
Fig. 2 is a structural diagram of a non-contact structured light binocular vision sewage level measuring device.
Fig. 3 is a layout diagram of the inside of the equipment control cabinet.
Fig. 4 is a measurement schematic.
Detailed Description
Example 1
A non-contact structured light binocular vision sewage level measuring device combines a rotary robot and a computer binocular vision system, meanwhile, a target characteristic value is increased by utilizing characteristic coding structured light, and the accuracy and reliability of sewage level detection are improved by adopting a mode of combining binocular vision, robot automatic control, image matching and intelligent sensing technologies.
The non-contact structured light binocular vision sewage level measuring device mainly comprises a data processing unit, a structured light generator, a binocular vision unit, a rotary robot and the like. The data processing unit comprises a central processing unit, a memory, a user terminal and a communication module, wherein the central processing unit is respectively connected with the memory, the user terminal and the communication module and is uniformly placed in the equipment control cabinet; the binocular vision unit comprises two industrial cameras, the two industrial cameras are arranged on the guide rail through a sliding block and move along the guide rail, and the guide rail is perpendicular to the lens direction of the digital camera; the structural light generator is arranged on the top surface of the guide rail, and the direction of the structural light generator is the same as the direction of a lens of the digital camera; the structure light generator and the two digital cameras are connected with a communication module of the data processing unit; the rotary robot unit comprises a base, a rotary base, a pitching shaft, a horizontal moving shaft and a related mechanical connection structure, the rotary robot is fixed on the base, a structural light stereoscopic vision unit is arranged on an executing structure at the tail end of the horizontal moving shaft, and the horizontal movement of a structural light stereoscopic vision unit module is realized through the movement of a motor; the horizontal moving shaft is arranged on the pitching shaft, and the change of the pitching angle is realized by controlling a motor related to the pitching shaft; the pitching shaft is arranged on the rotary machine base, the change of the rotating angle is realized through the rotary machine base, the motion control mechanism of the rotary robot is connected to the central processing unit of the data processing unit, and the motion process of each shaft is fed back to the central processing unit through the encoder, so that the safety and the controllability of the whole device are realized, and the non-contact structured light binocular vision sewage level measuring device is formed.
A block diagram of a system structure of the non-contact structured light binocular vision sewage level measuring device is shown in fig. 1. The system is through the certain angle of the step motor motion of central processing unit control rotatory frame and every single move axle, can see the position of sewage liquid level, the step motor of control horizontal migration axle, drive the terminal structured light binocular vision unit of installation arm and move to the position of clear formation of image, and note current position information, the angle that contains rotatory frame, the angle of every single move axle and the flexible distance of horizontal migration axle, central processing unit control structure light generator produces the coded information who has specific stripe and shines sewage liquid level juncture, control binocular vision system and carry out image extraction, the preliminary treatment, image characteristic analysis and feature matching, three-dimensional information obtains, through the analysis, combine current position information, obtain the actual distance of current sewage liquid level, convey memory and user terminal through central processing unit and show.
The characteristic stripe structure light is stripe structure light with specific coding information generated by a structure light generator, the coding information is expressed by light and shade stripe widths, and different structure light generators have different characteristic stripe structure lights.
Non-contact structured light binocular vision sewage water level measurement device adopts integrated structure design, and easy installation is maintained, mainly is applied to wisdom urban sewage treatment field, and especially the environment is abominable, be difficult to the installation to maintain to require the sewage treatment field that the precision is high. The three-dimensional device structure is schematically shown in fig. 2.
1. Structured light binocular vision system
Industry camera mainly adopts CMOS or CCD chip as core assembly, turn into the signal of telecommunication with received light signal, high image stability has, high transmission ability and high interference killing feature, this device adopts two industry cameras to constitute parallel binocular stereoscopic vision system, the axis parallel is placed and is fixed to on the guide rail, the camera interval can realize the interval adjustable through sliding guide, this device adopts the parallel binocular vision system that does not confine the axis to parallel of camera axis, structure light generator places on the guide rail, can send the characteristic coding structure light of different luminance through regulating power, adapt to different operational environment.
2. Feature coded structured light
The characteristic stripe structure light is stripe structure light with coded information, the stripe structure light with specific coded information is generated by a structure light generator, the coded information is expressed by light and dark stripe widths of a light band, different structure light generators are provided with different characteristic stripes, the characteristic stripe structure light is not limited to only the characteristic stripe structure light, and other matched characteristic stripe structure lights can also be adopted.
3. Horizontal moving shaft
The horizontal migration axle mainly by step motor, the shaft coupling, the slip module, end-to-end connection mechanism, limit switch, the motor cabinet, the encoder etc. is constituteed, wherein on motor installation and the motor cabinet, slip module one end is passed through the shaft coupling and is linked to each other with the motor, end-to-end connection structure is connected to one end, end execution structure is connected with structured light binocular vision unit, motion through the motor, realize the linear motion of structured light binocular vision unit, through limit switch, guarantee motion process safe and reliable, in the motion process, the encoder records the pulse in real time and sends central processing unit to and handles.
4. Pitch axis
The pitching shaft mainly comprises a motor, a motor base, a mechanical arm, an encoder and a horizontal moving shaft base, the mechanical arm is connected with the rotating base, the motor is installed on the motor base, and through the movement of the motor, the angle change of the horizontal moving shaft in the XZ plane is realized, so that the sewage treatment liquid level is in the visual field of the structured light binocular vision system.
5. Rotary machine base
The rotary base mainly comprises a motor, a motor base, a mechanical arm and an encoder, and the angle change of the measuring device in the XY plane is realized by adjusting the rotary base, so that the sewage treatment liquid level is in the reasonable position of the structured light binocular vision system.
Equipment control cabinet
The equipment control cabinet is in an industrial grade, good in sealing and air permeability, and is internally provided with a power supply module, a central processing unit, a storage and a user terminal, wherein the power supply module is mainly used for completing power supply of various motors and control equipment, power supply of a structured light binocular stereoscopic vision system and power supply of the central processing unit and the storage. The central processing unit mainly completes the control of the rotary robot and the distance measurement of the structured light binocular vision system, the user terminal mainly completes the display of sewage liquid level data and the display of the current robot posture, and the inside of the equipment box is arranged as shown in figure 3. Base seat
For fixing the rotary robot.
The basic functions and functions of various hardware connection units are described above, and the measurement principle and the test method of the non-contact structured light stereoscopic vision sewage level measurement device are described below.
1. Non-contact structured light binocular vision sewage level measurement principle
According to the principle of triangulation, a binocular vision system is adopted, and three-dimensional information of a target can be measured. The sewage treatment plant has complex environment and cannot accurately identify target points and characteristic valuesLittle or no binocular vision matching can be carried out, structural coded light is utilized to increase a characteristic value, before central stripes of the coded light are extracted, filtering processing is carried out on an image, after median filtering, the image is repeatedly traversed for 2-3 times of spatial filtering, noise points left after coarse extraction are removed, areas of the image occupied by the structural coded light are obtained, sub-pixel precision level extraction is carried out on the areas of the image occupied by the structural coded light, each pixel is subdivided, the subdivided areas are filled through a bilinear interpolation method, then cyclic search is carried out, gray-scale maximum pixel points of each line are found, secondary curve fitting is carried out according to the least square principle aiming at the gray-scale maximum pixel points and two adjacent pixel points on two sides of the gray-scale maximum pixel points, the maximum value points are solved as central points of the coded structural light through parabola fitting or Gaussian curve fitting, and then image matching is carried out, the positions of the same target point in the two cameras are found out, and as shown in FIG. 4, two characteristic points of the characteristic coded light and the liquid level are measured as A (x)1,y1,z1) And B (x)2,y2,z2) Wherein z is1Is the distance of CD, z2And Δ ABC is a right triangle at the distance of AE, and is measured by the formula: :
when the horizontal axis of the current rotating robot moves a, according to the similar principle, the actual coordinates of the point A and the point B in the binocular vision are known, and then the center point H (x) of the base line of the binocular vision is obtainedIn,yIn,zIn) Corresponding distance to liquid level:
according to the formula, the vertical distance from the top of the rotary robot to the liquid level is as follows:
according to the angle of the current pitch axisAnd obtaining the angle theta between the current structured light stereoscopic vision unit and the horizontal plane1According to the right triangle, the following are obtained:
in summary, when the horizontal moving axis of the whole rotary robot is kept horizontal, the height of the center from the bottom surface is l, and the height of the liquid level is l2Then, by the above formula, the actual height of the liquid level is obtained as:
2. non-contact structured light stereoscopic vision sewage level test method
The central processing unit controls the rotary robot to move to the rotary base, after the rotary robot moves to the designated position, the current rotation angle is recorded through the encoder, the pitch axis is controlled to move for a certain angle, the sewage liquid level is in the visual field of binocular stereoscopic vision, the central processing unit controls the structured light generator to beat out the characteristic stripes, the structured light stripes are positioned at the junction of the sewage liquid level, the angle of the current pitch axis is recorded, the horizontal axis movement is controlled, the binocular vision system can clearly shoot the characteristic structured light, the width of the current target point and the characteristic coded light is obtained, the current sewage liquid level height is obtained according to the pitch axis angle and a related calculation formula, the related axes of the rotary robot are changed, the measurement steps are repeated, the current liquid level height is measured, the average value is continuously measured for multiple times, and the mechanical movement is combined with the software, the accuracy and reliability of the measuring result are realized.
The above example is only one embodiment of the present invention, and simple changes, substitutions, and the like are also within the scope of the present invention.
Claims (10)
1. The utility model provides a two mesh vision sewage water level measuring device of non-contact structured light, a serial communication port, including rotary robot, rotary robot includes base (1), the coupling has horizontal rotation's rotatory frame (2) on base (1), the coupling has vertical rotatory every single move axle (3) on rotatory frame (2), every single move axle (3) are connected with horizontal migration axle (4), be fixed with two visual device (5) and a structural light generator (6) that are in different positions on horizontal migration axle (4).
2. The binocular vision sewage level measuring device of the non-contact structured light as claimed in claim 1, wherein the rotary base (2) is rotated by a first motor (9); the pitching shaft (3) is driven to rotate by a second motor (10).
3. The non-contact structured light binocular vision sewage level measuring device according to claim 2, wherein the horizontal moving shaft (4) comprises a sliding cylinder (41), an end connecting rod (42) is slidably connected in the sliding cylinder (41), one end of the end connecting rod (42) is in threaded connection with a screw rod (43), the other end of the end connecting rod is connected with the mounting seat (7), the screw rod (43) is connected with a third motor (44), and a limit switch (45) is installed on the sliding cylinder (41).
4. The binocular vision sewage level measuring device of non-contact structured light according to claim 3, wherein the mounting seat (7) is formed with a long hole guide rail (8) for mounting the visual device (5) and the structured light generator (6).
5. The non-contact structured light binocular vision sewage level measuring device according to claim 3, wherein the first motor (9), the second motor (10), the third motor (44), the vision device (5) and the structured light generator (6) are connected with an equipment control cabinet (11) in a wired or wireless manner.
6. The non-contact structured light binocular vision sewage level measuring device according to claim 1, wherein the vision device (5) is an industrial camera.
7. A non-contact structured light binocular vision sewage level measurement method is characterized by comprising the following steps:
step one, aligning two visual devices (5) and a structural light generator (6) which are positioned at different positions to the water surface, emitting characteristic stripe structure light (12) to the water surface by the structural light generator (6), and respectively photographing by the two visual devices (5) to obtain the central point of the characteristic stripe structure light on the water surface;
secondly, coordinate points of the central point of the characteristic stripe structure light on the images obtained by the two vision devices (5) are A (x) respectively1,y1,z1) And B (x)2,y2,z2) Then, the first step is executed,
theta represents an included angle between the characteristic stripe structure light and the sewage liquid level;
knowing the actual coordinates of points A and B in the two vision devices, the binocular vision baseline center point H (x)In,yIn,zIn) Corresponding distance z to the liquid surfaceIn：
The vertical distance from the top of the rotary robot to the liquid level is as follows:
a represents the expansion length of the horizontal moving shaft (4);
according to the angle of the current pitch axis, the angle theta between the characteristic stripe structure light emitted by the current structure light generator (6) and the horizontal plane is obtained1According to the right triangle, the following are obtained:
l1the height of the top point of the device from the sewage liquid level is shown;
whole rotating robot waterWhen the translation moving shaft is kept in a horizontal state, the height of the center from the bottom surface is l, and the assumed height of the liquid level is l2Then, the actual height of the liquid level is obtained as:
8. the binocular vision sewage level measuring method of the non-contact structured light as claimed in claim 7, wherein the positions of the vision device (5) and the structured light generator (6) are changed and a plurality of times l are continuously measured2Then take l2The average value of (d) is taken as the actual height of the final liquid level.
9. The binocular vision sewage level measuring method of the non-contact structured light as recited in claim 7, wherein the center point of the characteristic stripe structured light is obtained in a manner as follows: filtering the image shot by the vision device (5), repeatedly traversing the image for 2-3 times of spatial filtering after median filtering, removing the noise points left after coarse extraction to obtain the area of the image occupied by the structural coding light, then extracting the sub-pixel precision level of the region of the image occupied by the structural coded light, subdividing each pixel in the region, filling the subdivided region by a bilinear interpolation method, then, carrying out cyclic search to find out the gray maximum value pixel point of each line, aiming at the gray maximum value pixel point and two adjacent pixel points at two sides of the gray maximum value pixel point according to the least square principle, and performing quadratic curve fitting through parabolic fitting or Gaussian curve, solving a maximum value point as a central point of the coded structured light to obtain the central point of the characteristic stripe structured light, and then performing image matching to find out the positions of the same target point in the two visual devices (5).
10. The non-contact structured light binocular vision sewage level measurement method of claim 7, wherein the characteristic striped structured light is the only characteristic striped structured light.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112937486A (en) * | 2021-03-16 | 2021-06-11 | 吉林大学 | Vehicle-mounted online monitoring and driving assistance system and method for road accumulated water |
| CN112986912A (en) * | 2021-03-19 | 2021-06-18 | 北京小狗吸尘器集团股份有限公司 | Floor sweeper repositioning method and device based on structured light sensor and electronic equipment |
| CN113483694A (en) * | 2021-06-30 | 2021-10-08 | 北京航空航天大学 | Structured light three-dimensional measuring device |
-
2020
- 2020-05-13 CN CN202010405285.2A patent/CN111442817A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112937486A (en) * | 2021-03-16 | 2021-06-11 | 吉林大学 | Vehicle-mounted online monitoring and driving assistance system and method for road accumulated water |
| CN112986912A (en) * | 2021-03-19 | 2021-06-18 | 北京小狗吸尘器集团股份有限公司 | Floor sweeper repositioning method and device based on structured light sensor and electronic equipment |
| CN112986912B (en) * | 2021-03-19 | 2023-06-16 | 北京小狗吸尘器集团股份有限公司 | Floor sweeper repositioning method and device based on structured light sensor and electronic equipment |
| CN113483694A (en) * | 2021-06-30 | 2021-10-08 | 北京航空航天大学 | Structured light three-dimensional measuring device |
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