CN112461213B - Multi-mode wave monitoring device and monitoring method - Google Patents
Multi-mode wave monitoring device and monitoring method Download PDFInfo
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Abstract
The invention relates to a multi-mode wave monitoring device and a monitoring method, which comprises a self-stabilizing cradle head fixed on a ship deck, wherein a plurality of motors are arranged on the upper surface of the self-stabilizing cradle head at intervals in the circumferential direction, the output ends of the motors are provided with rotary tables through speed reducers, the top surface of each rotary table is fixed with an omnibearing servo stabilizing platform, the top surface of each omnibearing servo stabilizing platform is provided with a slide rail assembly, the slide rail assembly is provided with two fixed platform assemblies in a sliding manner, the two fixed platform assemblies can independently slide along the slide rail assembly, the upper part of one fixed platform assembly is provided with a CCD (charge coupled device) camera, the other fixed platform assembly is provided with a short-wave infrared camera, and the top surfaces of the CCD camera and the short-wave infrared camera are both provided with protective covers; and a communication interface is arranged on the side wall of the omnibearing servo stable platform. The working reliability is improved, and the detection precision is high.
Description
Technical Field
The invention relates to the technical field of wave detection equipment, in particular to a multi-mode wave monitoring device and a multi-mode wave monitoring method.
Background
In the aspect of water surface application, the sea environment (such as waves) needs to be perceived and understood by common reef islands, platforms and the like, and at present, the perception technology mainly comprises a visual perception technology, an infrared perception technology, a radar perception technology and an underwater sound perception technology. Compared with other perception technologies, the perception technology based on the light vision is easier to effectively distinguish the target/environment because the visual perception contains more detailed information of the target area. Particularly, for complex scenes such as multiple targets, large and small target mixing, target shielding, light reflection, wave sloshing and the like, the targets can be accurately identified and positioned only by abundant detail information. The existing wave monitoring technology based on optical measurement has the following problems: accurate measurements can only be made during the day.
Disclosure of Invention
The applicant provides a multi-mode wave monitoring device and a multi-mode wave monitoring method aiming at the defects in the prior art, so that the problem that the optical measurement means can only measure waves in the daytime is effectively solved, the working reliability is improved, and the detection precision is high.
The technical scheme adopted by the invention is as follows:
a multi-mode wave monitoring device comprises a self-stabilizing cradle head fixed on a deck of a ship body, wherein a plurality of motors are arranged on the upper surface of the self-stabilizing cradle head at intervals in the circumferential direction, a rotary table is installed at the output ends of the motors through a speed reducer, an omnibearing servo stabilizing platform is fixed on the top surface of the rotary table, a slide rail assembly is installed on the top surface of the omnibearing servo stabilizing platform, two fixed table assemblies are installed on the slide rail assembly in a sliding mode and can independently slide along the slide rail assembly, a CCD camera is installed on the upper portion of one fixed table assembly, a short-wave infrared camera is installed on the other fixed table assembly, and protective covers are installed on the top surfaces of the CCD camera and the short-wave infrared camera; and a communication interface is arranged on the side wall of the omnibearing servo stabilizing platform.
The further technical scheme is as follows:
the self-stabilizing cradle head is of a cylindrical structure.
The speed reducer is a bevel gear transmission mechanism.
And an image memory, a gyroscope, a controller and an image collector are arranged in the omnibearing servo stabilizing platform.
The motors are provided with four.
The structure of the fixed station assembly is as follows: the U-shaped plate locking device comprises U-shaped plates which are installed in a matched mode, the two U-shaped plates are locked through screws after being matched with each other, a rectangular structure is formed, and one U-shaped plate is locked on the top face of the rectangular structure.
The section of the protective cover is of a circular arc structure.
A detection method of a multi-modal wave monitoring device comprises the following operation steps:
the first step is as follows: the wave monitoring device is started: turning on a switch of the multi-modal wave detection device;
the second step is that: the multimodal binocular camera starts to acquire images: the CCD camera and the short wave infrared camera are started to work;
the third step: acquiring wave images of a monitoring area, wherein the monitoring area is a random sea area, and acquiring wave information of a corresponding area through a multi-mode binocular camera system;
the fourth step: the feature extraction of the short-wave infrared image,
the fifth step: the extraction of the characteristics of the CCD image,
in the fourth step and the fifth step, the processing end processes the wave images collected by the short wave infrared camera and the CCD camera, the image is preprocessed by denoising and image enhancement processing means, and the feature extraction of the short wave infrared image and the feature extraction of the CCD image are realized through respective models;
and a sixth step: by means of the weight selection algorithm it is possible to select,
the weight coefficient is that the number of the extracted characteristic points in the short wave infrared image is assumed, the number of the extracted characteristic points in the CCD image is assumed, and then, a short wave infrared algorithm is selected for image observation; selecting a CCD algorithm for processing, obtaining the characteristic point weight coefficient by processing images in different time periods, and carrying out statistical calculation aiming at the daytime and night intervals;
the seventh step: the three-dimensional matching is carried out,
through the feature extraction and weight selection in the fourth, fifth and sixth steps, the SIFT algorithm is utilized to respectively realize the feature extraction, and the Euclidean shortest distance is utilized to calculate the similarity of feature points, so that the stereo feature matching under different modes of the short wave infrared image information and the CCD image information is realized;
the eighth step: and (3) three-dimensional reconstruction is carried out,
obtaining an internal matrix and parameters through the stereo matching in the seventh step, and calculating the wave height, the wave period and the wave direction of the waves through a three-dimensional reconstruction means to realize the calculation of wave parameters;
the ninth step: acquiring wave parameters;
the tenth step: the monitoring software displays wave information.
The invention has the following beneficial effects:
the invention has compact and reasonable structure and convenient operation, has lower cost and more accurate measurement precision due to the adoption of a multi-mode binocular system for measurement, solves the limitation of measurement time, and realizes the wave parameter monitoring with low cost, low power consumption and high-precision measurement.
The invention obtains wave information of wave height, period, wave speed and the like of a monitoring point by a monitoring method.
The invention provides a monitoring device, comprising: the information acquisition module is used for acquiring wave images; and the image processing module is used for measuring the wave parameters of the acquired wave images through an algorithm.
The wave parameter monitoring method comprises the steps of the wave parameter monitoring method in the first aspect of the invention when the processor executes the program through the short wave infrared camera, the CCD camera, the holder, the processor and the computer program which is stored in the memory and can run on the processor.
Drawings
Fig. 1 is a schematic structural diagram of a multi-modal wave monitoring device according to the present invention.
Fig. 2 illustrates a multi-modal wave detection method of the present invention.
FIG. 3 is a schematic diagram of coordinate transformation in three-dimensional reconstruction according to the present invention.
Wherein: 1. a protective cover; 2. a CCD camera; 3. a short wave infrared camera; 4. a stationary table assembly; 5. a screw; 6. a slide rail assembly; 7. a communication interface; 8. an omnibearing servo stable platform; 9. a turntable; 10. a motor; 11. self-stabilizing cradle head.
Detailed Description
The following description of the embodiments of the present invention refers to the accompanying drawings.
As shown in fig. 1 and fig. 2, the multimode wave monitoring device of the present embodiment includes a self-stabilizing cradle head 11 fixed on a hull deck, a plurality of motors 10 are arranged on the upper surface of the self-stabilizing cradle head 11 at intervals in the circumferential direction, a rotary table 9 is installed at the output end of the motor 10 through a speed reducer, an omnidirectional servo stabilizing platform 8 is fixed on the top surface of the rotary table 9, a slide rail assembly 6 is installed on the top surface of the omnidirectional servo stabilizing platform 8, two fixed table assemblies 4 are installed on the slide rail assembly 6 in a sliding manner, the two fixed table assemblies 4 can independently slide along the slide rail assembly 6, a CCD camera 2 is installed on the upper portion of one fixed table assembly 4, a short wave infrared camera 3 is installed on the other fixed table assembly 4, and protective covers 1 are installed on the top surfaces of the CCD camera 2 and the short wave infrared camera 3; and a communication interface 7 is arranged on the side wall of the omnibearing servo stable platform 8.
The self-stabilizing cradle head 11 is of a cylindrical structure.
The speed reducer is a bevel gear transmission mechanism.
An image memory, a gyroscope, a controller and an image collector are arranged in the omnibearing servo stabilizing platform 8.
The motor 10 is provided with four.
The structure of the fixed table component 4 is as follows: the U-shaped plate locking device comprises U-shaped plates which are installed in a matched mode relatively, the two U-shaped plates are locked through screws 5 after being matched relatively, a rectangular structure is formed, and one U-shaped plate is locked on the top surface of the rectangular structure.
The section of the protective cover 1 is in a circular arc structure.
The floating platform needs to accurately measure wave parameters in the daily use process. The existing wave measuring means based on buoys and radars such as optical measurement have the defects of difficult collection and release, high cost, inaccurate measurement, limited use conditions and the like.
To solve this problem, the present invention provides a wave monitoring method.
The method can be used in the wave monitoring scene of the floating platform, and can also be used in other monitoring scenes such as fixed platforms such as island reef, the embodiment of the invention is not particularly limited to this, the relevant content of the embodiment of the invention is described below by taking the monitoring scene of the floating platform as an example, and the execution main body of the method can be a wave measuring device arranged in a monitoring sea area.
The invention also comprises a detection system, an image acquisition part and an image processing part, wherein the image acquisition part is used for acquiring the image of the monitored sea area; the image processing part carries out software processing on the transmitted short wave infrared image and the CCD image to realize the extraction of the wave parameters.
The multi-modal wave detection device has the following functions:
protective cover 1: the moisture-proof and corrosion-proof functions of the two cameras are realized;
short wave infrared camera 3: the wave feature recognition under complex environments such as dark night, rain fog, light and the like is mainly realized;
the CCD camera 2: the wave characteristic recognition under the daytime environment is mainly realized;
fixed cloud platform subassembly 4: the fixing and angle adjustment of the two cameras are mainly realized;
and (5) screws: the fixed connection function of the fixed table component 4 is realized.
The slide rail component 6: mainly realizes the adjustment of external parameters of two cameras and controls the distance between the two cameras;
the communication interface 7: the transmission of the omnibearing servo stabilization holder 8 and the image data is realized;
omnibearing servo stabilizing platform 8: the device comprises an image memory, a gyroscope, a controller and an image collector, and is mainly used for collecting and storing images and realizing self-compensation of motion; the image memory, gyroscope, controller and image acquisition are all commercially available.
self-stabilizing cradle head 11: is arranged on the deck of the ship body to provide a support for the whole device.
The detection method of the multi-modal wave monitoring device comprises the following operation steps:
the first step is as follows: the wave monitoring device is started: turning on a switch of the multi-modal wave detection device;
the second step: the multimodal binocular camera starts to acquire images: the CCD camera 2 and the short wave infrared camera 3 are started to work;
the third step: acquiring wave images of a monitoring area, wherein the monitoring area is a random sea area, and acquiring wave information of a corresponding area through a multi-mode binocular camera system;
the fourth step: the short-wave infrared image characteristic is extracted,
the fifth step: the extraction of the characteristics of the CCD image,
in the fourth step and the fifth step, the processing end processes the wave images collected by the short wave infrared camera 3 and the CCD camera 2, the image is preprocessed by means of denoising and image enhancement processing, and the feature extraction of the short wave infrared image and the feature extraction of the CCD image are realized through respective models;
and a sixth step: by means of the weight selection algorithm it is possible to select,
the weight coefficient, assuming that the number of the extracted characteristic points in the short wave infrared image is as same as the number of the extracted characteristic points in the CCD image, then selecting a short wave infrared algorithm to carry out image observation; selecting a CCD algorithm for processing, obtaining the characteristic point weight coefficient by processing images in different time periods, and carrying out statistical calculation aiming at the daytime and night intervals;
the seventh step: the three-dimensional matching is carried out,
through the feature extraction and weight selection in the fourth, fifth and sixth steps, the feature extraction is respectively realized by using an SIFT algorithm, the similarity of feature points is calculated by using the European-style shortest distance, and the stereo feature matching under different modes of the short wave infrared image information and the CCD image information is realized;
eighth step: performing three-dimensional reconstruction, namely performing three-dimensional reconstruction,
and obtaining an internal matrix and parameters through the stereo matching in the seventh step, and calculating the wave height, the wave period and the wave direction of the waves by means of three-dimensional reconstruction to realize the calculation of the wave parameters.
The ninth step: acquiring wave parameters;
the tenth step: the monitoring software displays wave information.
In the actual use process, after the detection is carried out by using the invention, the measurement result is higher than the requirement of the Haitan Specification, and the test result of Lihu lake is as follows:
the multi-modal wave observation device can realize signal isolation with the frequency of 1Hz and the amplitude of 5 degrees.
The specific means of three-dimensional reconstruction is as follows:
assuming that the target point in space is at the origin O of the CCD camera 2 w -X w Y w Z w The coordinates of w ,Y w ,Z w ) T The coordinates of the corresponding image points on the left and right images are (u) l ,v l ) T And (u) r ,v r ) T . Then the conversion of the left and right image points to O with the left camera as the origin can be obtained according to the conversion relation w -X w Y w Z w The following formula:
wherein
In the formula:
M l transforming a matrix for the CCD camera;
M r a short wave infrared camera transformation matrix;
A l is an internal parameter matrix of the CCD camera;
A r an internal parameter matrix of the short wave infrared camera is obtained;
O w -X w Y w Z w is a world coordinate system;
(u l ,v l ) Is CCD camera image coordinate;
(u r ,v r ) The image coordinates of the short wave infrared camera are obtained;
e is an identity matrix;
r is a rotation matrix of the short wave infrared camera relative to the CCD camera;
t is a translation matrix of the short wave infrared camera relative to the CCD camera;
m l 、m r is M l 、M r The internal matrix variables of (2);
for M of the above formula l And M r Unfolding can give the formula:
taking:
the formula (4) can be represented by R c [x w y w z w ] T ＝T c It is shown that the process of the present invention,
in the formula R c 、T c Is the transformation matrix taken during the calculation.
Wherein R is c 、T c Can be formed by M l 、M r And image point (u) l ,v l )、(u r ,v r ) Obtaining the three-dimensional coordinates (x) of the wave space point w ,y w ,z w ) T The following formula can be used to obtain:
artificially establishing a world coordinate system as a reference coordinate system O w '-X w 'Y w 'Z w ' X ' of a reference coordinate system ' w O' w Y' w The plane is parallel to the hydrostatic surface, and the Z axis is vertical to the hydrostatic surface. O with CCD camera 2 as origin w -X w Y w Z w Three-dimensional coordinates in the world coordinate system need to be converted into a reference coordinate system O w '-X w 'Y w 'Z w The three-dimensional coordinates under' as shown in fig. 3.
During the experiment, put the three-dimensional coordinatometer of artificial establishment in the habitual visual angle position of people's eye observation object, the XOY face of coordinatometer is parallel with the hydrostatic surface direction promptly, and Z axle perpendicular to surface of water, the scale department of coordinatometer pastes white reflection of light paper, is convenient for select the matching right. The method comprises the steps of placing a coordinatometer, shooting the coordinatometer under the same shooting environment and system setting conditions as a shooting target object to obtain left and right images, and manually selecting matched pairs in the left and right images to obtain two-dimensional coordinates of the matched pairs. The artificially selected matching pair is a mapping point of a target point on the three-dimensional coordinatometer. Suppose from O w -X w Y w Z w To O w '-X w 'Y w 'Z w The transformation matrix of' is:
selection of O w '-X w 'Y w 'Z w ' four relative positions inPoints with a relatively clear relationship, according to which they are at O w -X w Y w Z w Coordinate of (5) and (O) w '-X w 'Y w 'Z w ' obtaining a transformation matrix [ R ] c T c ]. The wave image is subjected to stereo matching and four coordinate system conversion to obtain O w '-X w 'Y w 'Z w ' three-dimensional stereo coordinates of the bottom.
In the formula:
[R c T c ]is a transformation matrix of 2 coordinate systems.
The above description is intended to be illustrative and not restrictive, and the scope of the invention is defined by the appended claims, which may be modified in any manner within the scope of the invention.
Claims (2)
1. A multi-modal wave monitoring device, characterized by: comprises a self-stabilizing cradle head (11) fixed on a deck of a ship body, four motors (10) are arranged on the upper surface of the self-stabilizing cradle head (11) at intervals in the circumferential direction, the output end of the motor (10) is provided with a turntable (9) through a speed reducer, the top surface of the turntable (9) is fixed with an omnibearing servo stabilizing platform (8), the top surface of the omnibearing servo stable platform (8) is provided with a slide rail component (6), the two fixed platform components (4) are arranged on the sliding rail component (6) in a sliding way, the two fixed platform components (4) can independently slide along the sliding rail component (6), wherein the upper part of one fixed platform component (4) is provided with a CCD camera (2), the other fixed platform component (4) is provided with a short wave infrared camera (3), the top surfaces of the CCD camera (2) and the short wave infrared camera (3) are both provided with a protective cover (1); a communication interface (7) is arranged on the side wall of the omnibearing servo stabilizing platform (8); the self-stabilizing cradle head (11) is of a cylindrical structure; the speed reducer is a bevel gear transmission mechanism; an image memory, a gyroscope, a controller and an image collector are arranged in the omnibearing servo stabilizing platform (8); the structure of the fixed station component (4) is as follows: the device comprises U-shaped plates which are oppositely matched and installed, wherein the two U-shaped plates are locked by a screw (5) after being oppositely matched to form a rectangular structure, and one U-shaped plate is locked on the top surface of the rectangular structure; the section of the protective cover (1) is in a circular arc structure.
2. A detection method using the multi-modal wave monitoring device of claim 1, wherein: the method comprises the following operation steps:
the first step is as follows: the wave monitoring device starts: turning on a switch of the multi-modal wave detection device;
the second step is that: the multimodal binocular camera starts to acquire images: the CCD camera (2) and the short wave infrared camera (3) are started to work;
the third step: acquiring wave images of a monitored area, wherein the monitored area is a random sea area, and acquiring wave information of a corresponding area through a multi-mode binocular camera system;
the fourth step: the short-wave infrared image characteristic is extracted,
the fifth step: the extraction of the characteristics of the CCD image,
in the fourth step and the fifth step, the processing end processes the wave images collected by the short wave infrared camera (3) and the CCD camera (2), the image preprocessing is completed through denoising and image enhancement processing means, and the feature extraction of the short wave infrared image and the feature extraction of the CCD image are realized through respective models;
and a sixth step: by means of the weight selection algorithm it is possible to select,
weight coefficient ω k Assuming that the number of the extracted feature points in the short wave infrared image is omega I And the number of the characteristic points extracted from the CCD image is omega C When ω is I /ω C ≥ω k Then, selecting short wave infrared algorithm to carry out imageObserving; when omega I /ω C ≤ω k Then, a CCD algorithm is selected for processing, and the weight coefficient omega of the characteristic point k The statistical calculation is carried out on the daytime and night intervals by processing the images at different time intervals;
the seventh step: the three-dimensional matching is carried out,
through the feature extraction and weight selection in the fourth, fifth and sixth steps, the feature extraction is respectively realized by using an SIFT algorithm, the similarity of feature points is calculated by using the European-style shortest distance, and the stereo feature matching under different modes of the short wave infrared image information and the CCD image information is realized;
eighth step: and (3) three-dimensional reconstruction is carried out,
obtaining an internal matrix and parameters through the stereo matching in the seventh step, and calculating the wave height, the wave period and the wave direction of the wave through a three-dimensional reconstruction means to realize the calculation of the wave parameters;
the ninth step: acquiring wave parameters;
the tenth step: the monitoring software displays wave information.
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