CN210534857U - Wave video measuring device - Google Patents
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- CN210534857U CN210534857U CN201920994052.3U CN201920994052U CN210534857U CN 210534857 U CN210534857 U CN 210534857U CN 201920994052 U CN201920994052 U CN 201920994052U CN 210534857 U CN210534857 U CN 210534857U
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Abstract
The utility model discloses a wave video measuring device relates to ocean observation technical field, including video image acquisition module, data transmission module, data reception processing module, wave parameter display module, the body and the calibration board of mooring at the sea, the utility model discloses improve to current wave measurement method, gather the surface of water through two left and right industrial cameras in step and preset the body motion sequence image, utilize image identification processing method to draw image coordinate system floater center, calculate three-dimensional coordinate in the body world coordinate system based on two mesh vision photogrammetry principles, and then according to wave observation correlation requirement inversion wave parameter in "ocean observation standard. The utility model provides a measuring device has convenient operation, the algorithm is simple reliable, low cost and the high advantage of measurement accuracy, can realize low-cost, the high accuracy of wave parameter, on a large scale, long-time continuous measurement, and the field is surveyd at ocean wave has wide application prospect.
Description
Technical Field
The utility model relates to an ocean observation technology field especially relates to a wave video measuring device.
Background
The ocean observation technology is an important technical support for ocean resource development and ocean interest guarantee, and has very important significance for ocean defense construction and ocean resource development and utilization in China. The measurement of sea wave parameters is very important for offshore transportation, exploration and development of marine oil and other mineral products, marine fishery, marine engineering, marine military activities and other offshore activities.
The traditional ocean wave parameter measuring method comprises a pressure type wave measuring method, an acoustic wave meter method, a wave track floating mark method, a radar measuring method and the like, and the traditional wave measuring method has the defects of complex structure, single function, difficult distribution, small measuring range, high measuring cost and the like. With the rapid development of computer hardware technology and photogrammetry technology, a photogrammetry method for calculating ocean wave parameters by using an image processing analysis technology to acquire sea surface field video images through a video image sensor gradually moves into the sight of people. The video measurement method mainly has the advantages of wide measurement range, quick dynamic response and low measurement cost, and can realize continuous and large-range measurement of the ocean wave parameters by means of the existing video monitoring system. However, the existing wave parameter video measuring method has the problems of complex calculation and poor reliability, so that the application under the actual sea condition is difficult.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects of the prior art and provide a wave video measuring device to solve the technical problems of complex structure, single function, difficult arrangement, small measuring range, high measuring cost and the like of the wave measuring method in the prior art;
the utility model discloses a body motion sequence image is preset on two left and right industrial camera synchronous acquisition sea, utilize image recognition processing method to draw image coordinate system floater center, three-dimensional coordinate in the world coordinate system of body is calculated based on two mesh vision photogrammetry principles, and then according to the relevant requirement inversion wave parameter of unrestrained observation in "ocean observation standard", convenient operation has, the algorithm is simple reliable, low cost and the high advantage of measurement accuracy, can realize the low cost of wave parameter simultaneously, high accuracy, on a large scale, long-time continuous measurement, the characteristics that have wide application prospect in ocean wave observation field.
In order to solve the technical problem, the utility model discloses a wave video measuring device, which comprises a video image acquisition module, a data transmission module, a data receiving and processing module, a wave parameter display module, a floating body tied on the sea surface and a calibration plate;
the video image acquisition module is used for acquiring a motion sequence image of a water surface preset floating body;
the data transmission module is used for transmitting the floating body motion sequence image acquired by the video image acquisition module to the data receiving and processing module in real time;
the data receiving and processing module is used for carrying out data processing on the collected floating body motion sequence image, calculating a three-dimensional coordinate in a central world coordinate system of the floating body and further inverting wave parameters;
the wave parameter display module is connected with the data receiving and processing module and is used for displaying the wave parameters calculated by the data receiving and processing module in real time;
the floating body is tied to a sea area to be observed on the sea surface, and a video image acquisition module acquires a motion sequence image of the floating body sinking and floating along with the sea surface waves;
the calibration board is used for calibrating the video image acquisition module, determining the internal parameter information of the video image acquisition module, and further using the determined parameter information for establishing a world coordinate system and constructing a binocular vision photogrammetry model.
Furthermore, in order to better facilitate observation and realize measurement accuracy, the floating body adopts a spherical floating body which is tied by an anchor system or tied on the sea surface, and the calibration plate adopts a chessboard format calibration plate. The spherical floating body can be anchored or tied in a sea area to be observed, and the data acquisition module acquires the video images of the sinking and floating motion sequence of the spherical floating body following the sea surface waves. The chessboard format calibration board is used for calibrating the video image acquisition module, determining internal parameters (focal length, image center and the like) of the left camera and the right camera and relative position information (a rotation matrix and a translation matrix) of the left camera and the right camera, establishing a world coordinate system according to the determined relative position information, and further establishing a binocular vision photogrammetry model.
Furthermore, in order to realize the accuracy and the synchronism of video image acquisition, the video image acquisition module comprises two kilomega network industrial cameras with the same model and a synchronous signal generator, the two kilomega network industrial cameras are respectively installed on various platforms on the sea surface or near-shore supports and are aligned to the sea area to be measured, and the two kilomega network industrial cameras are triggered by the synchronous signal generator to synchronously acquire sequence video images of a sea surface floating body fluctuating along with waves and are transmitted to the data receiving and processing module in real time through the data transmission module.
Furthermore, in order to better facilitate data transmission and realize real-time data transmission, the data transmission module adopts a gigabit network cable, an optical fiber or other data transmission modes for data transmission. And transmitting the video images of the floating body moving along with the waves synchronously acquired by the video image acquisition module to the data receiving and processing module in real time.
Further, in order to improve the accuracy of data processing, low cost and long-time continuous measurement, the data receiving and processing module is composed of a workstation type computer, the centers of the floating bodies in the image coordinate systems of the two industrial cameras are extracted by receiving video images of the floating bodies which are synchronously collected by the two industrial cameras and sink and float along with waves, the centers of the floating bodies in the image coordinate systems of the left camera and the right camera are extracted by using an image processing and analyzing method, the three-dimensional coordinates in the world coordinate system of the floating bodies are calculated by adopting a binocular vision stereo matching technology and a photogrammetric principle, and then wave parameters such as wave height, wave period and the like are inverted.
Furthermore, in order to facilitate image recognition, the floating body can be a sphere made of high polymer polyethylene material and coated with bright colors, and it is worth noting that the weight of the floating body ensures that the floating body has good wave following performance, and the size of the floating body can be properly adjusted according to different measurement tasks. It should be noted that the utility model discloses in the body quantity of presetting can have a plurality ofly, as long as guarantee the body about the video data acquisition module camera the public field of vision within range can.
The measurement principle is shown in fig. 2:
the method comprises the steps of synchronously shooting a floating body motion sequence image preset on the water surface through a video image acquisition module, extracting the center of a floating body in an image coordinate system by using an image recognition processing method, calculating three-dimensional coordinates in a world coordinate system of the floating body based on a binocular vision photogrammetry principle, and further inverting wave parameters such as wave height, wave period and the like according to the sea wave observation related requirements in ocean observation regulations. The wave parameter video measuring method comprises the following steps:
calibrating an S1 video acquisition module;
starting a video acquisition module to synchronously shoot a plurality of chessboard pattern calibration plate images with different poses, and calibrating a left camera internal parameter matrix A and a right camera internal parameter matrix A in the video acquisition module by utilizing an OpenCV calibration tool boxr、AlAnd an external parameter rotation matrix R and a translation vector T in the external parameter, and establishing a world coordinate system according to the relation of the relative position R, T between the two cameras. The camera intrinsic parameters herein include the center (u) of the camera focal length (f/dx, f/dy) image0,v0)。
S2, collecting an image of the marine floating body;
the floating body is anchored or tied to the sea area to be observed, the sampling time interval of the data acquisition module is set to be equal to 0.5s, the video image of the floating body sinking and floating along with the sea surface wave is shot, and the video image is transmitted to the data receiving and processing module through the data transmission module in real time.
S3 preprocessing the image;
the obtained sea surface image is preprocessed, the influence of camera shake and high-frequency noise is reduced by adopting a spatial median filtering smooth image, the image contrast is adjusted by utilizing an image enhancement method, the image quality is improved, and the subsequent processing is facilitated.
S4, extracting the center of the image coordinate system float;
and tracking and predicting the position of the next frame of the floating body in an image coordinate system by adopting a Kalman filtering-based mode, and setting a region of interest (ROI) of the center of the floating body searched in the next frame of image so as to reduce the operation amount and ensure the real-time property and the robustness of the system. In the set floating body center interesting region, extracting an edge point set of a region to be detected by using a Canny operator, extracting a floating body ellipse target in an image by using a least square method fitting method based on RANSAC, and further extracting a floating body center coordinate in an image coordinate system according to geometric knowledge.
S5, calculating the three-dimensional coordinate of the center of the floating body in a world coordinate system;
calculating an internal parameter matrix A of the left camera and the right camera according to the result calibrated by the video acquisition moduler、AlAnd an extrinsic parameter rotation matrix R, a translation vector T in the extrinsic parameters, an antisymmetric matrix S, and a basis matrix F.
Wherein A isr、AlS, F are:
F＝Ar -TSRAl -1
coordinates (u) of center of floating body in left and right image coordinate systeml,vl)、(ur,vr) And the basic matrix F is brought into the formula, and whether the center of the obtained floating body meets the polar line constraint condition is tested.
If the two-dimensional coordinates are satisfied, calculating the three-dimensional coordinates in the world coordinate system according to the binocular vision measurement model, otherwise, taking the matching as false matching.
S6 inverting wave height and wave period parameters;
repeating the steps 1-5, and obtaining the three-dimensional coordinates of the central world coordinate system of the floating body within 20 minutes; based on 3 sigma principleExcept the singular value and the gross error of the obtained three-dimensional coordinate sequence of the center of the buoy within 20 minutes, in the three-dimensional coordinate sequence of the center of the buoy after the gross error is removed, the coordinate in the vertical direction in the world coordinate system is recorded as L, and the average value is L
And draw
Simulated curve over time. The vertical distance between a significant wave crest and a significant wave trough between two adjacent upper cross zero points is taken as the wave height of a wave, and the time interval between two adjacent upper cross zero points is taken as the period of the wave. According to wave height and wave period definitions in ocean observation standards, calculating effective wave height/effective wave period, maximum wave height/maximum wave period, one-tenth wave height/one-tenth wave period and average wave height/average wave period.
And drawing a change curve of the wave parameters obtained by calculation along with time, and displaying the wave parameters such as the wave height, the wave period and the like obtained by calculation of the data receiving and processing module in real time by using a wave parameter display module.
The utility model provides a wave video measuring device has convenient operation, measures the advantage that the algorithm is simple reliable, low cost and measurement accuracy are high, can realize low cost, high accuracy, on a large scale, long-time continuous measurement of wave parameter, has wide application prospect's characteristics in ocean wave measurement field.
Drawings
FIG. 1 is a schematic structural diagram of a sea wave video measuring device;
FIG. 2 is a schematic view of a wave video measurement process;
FIG. 3 is a diagram of an implementation effect of a specific embodiment of a sea wave video measuring device;
reference is made to the accompanying drawings in which:
the system comprises a left industrial camera, a right industrial camera, a 3 synchronous signal generator, a 4 data transmission module, a 5 data receiving and processing module, a 6 wave parameter display module, a 7 chessboard format calibration plate and an 8 anchoring system or a floating body tied to the sea surface.
Detailed Description
The embodiments of the present invention will be described in detail below, and the present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
Example 1
Referring to fig. 1 and fig. 3, a schematic structural diagram of a wave video measuring device according to an embodiment of the present invention is shown, and the wave video measuring device includes: the device comprises a video image acquisition and display module, a data transmission module 4, a data receiving and processing module 5, a wave parameter display module 6, a chessboard format calibration plate 7 and a spherical floating body 8 which is anchored or tied in the sea area to be observed.
As shown in fig. 1, the video image acquisition module is composed of a left industrial camera 1, a right industrial camera 2 and a synchronous signal generator 3, and can be installed on various platforms or near-shore supports on the sea surface and aligned to the sea area to be measured, and the two industrial cameras are triggered by the synchronous signal generator 3 to acquire sequence video images of the sea surface floating body 8 fluctuating along with waves at different angles and at the same time and are transmitted to the data receiving and processing module 5 in real time through the data transmission module 4. Wherein, the left industrial camera 1 and the right industrial camera 2 can be placed in parallel with a distance of 500 mm; and the synchronous signal generator is used for providing synchronous trigger signals for the two industrial cameras, so that the pictures received by the computer from the left industrial camera and the right industrial camera are synchronously acquired, and the requirement of the computer on further processing and screening is reduced.
As shown in fig. 1, the data transmission module 4 selects a gigabit network cable, and transmits the video image of the floating body moving along with the waves, which is acquired by the video image acquisition module, to the data receiving and processing module 5 in real time.
As shown in fig. 1, the data receiving and processing module 5 mainly includes a computer and image processing software programmed by using tools such as OpenCV, and the module collects video images of floating bodies 8 sinking and floating up and down along with waves at the same time at different angles by receiving left and right industrial cameras, respectively extracts image coordinate system floating body centers of the left industrial camera 1 and the right industrial camera 2 by using an image processing and analyzing method, calculates three-dimensional coordinates in a floating body world coordinate system by using a binocular vision stereo matching technology and a photogrammetry principle, and further inverts wave parameters such as wave height and wave period. In the embodiment, the data processing module is integrated in a computer with wide application, so that the manufacturing cost of the buoy attitude measuring device is reduced, and the user experience of a user of the buoy attitude measuring device is improved.
As shown in fig. 1, the wave parameter display module 6 is connected to the data receiving and processing module 5, and can display the wave parameters such as the wave height and the wave period calculated by the data receiving and processing module 5 in real time, so as to improve the user experience of the wave video measuring device.
As shown in fig. 1, the ocean wave video measuring device further includes: the chessboard grid calibration board 7 is a chessboard grid with a plurality of black and white interlaced chequers, wherein the length of a single chequer of the calibration board can be determined according to specific measurement tasks, a video image acquisition device is used for shooting images of the calibration board under a plurality of different conditions, a calibration tool box integrated in a data receiving and processing module is used for calibrating the video image acquisition module according to the shot images of the calibration board, internal parameters (focal length, image center and the like) of a left camera and a right camera and relative pose information (a rotation matrix and a translation matrix) of the left camera and the right camera are determined, a world coordinate system is established according to the determined relative position information, and a binocular vision photogrammetric model is further established.
As shown in fig. 1, the ocean wave video measuring device further includes: the floating body 8 anchored or tied to the sea area to be observed is captured by the data acquisition module and then the data receiving and processing module calculates the wave parameters of the sea area, such as wave height, wave period, etc. The floating body 8 can be a sphere made of high molecular polyethylene material and coated with bright color, and the weight of the floating body is ensured to have good wave following property, and the size of the floating body can be properly adjusted according to different measurement tasks. It should be noted that, the number of the floating bodies preset in the utility model is 1.
Example 2
Embodiment 2 is the utility model provides an embodiment provides a wave video measuring device's schematic structure diagram, wave video measuring device includes: the device comprises a video image acquisition and display module, a data transmission module 4, a data receiving and processing module 5, a wave parameter display module 6, a chessboard format calibration plate 7 and a spherical floating body 8 which is anchored or tied in the sea area to be observed.
As shown in fig. 1, the video image acquisition module is composed of a left industrial camera 1, a right industrial camera 2 and a synchronous signal generator 3, and can be installed on various platforms or near-shore supports on the sea surface and aligned to the sea area to be measured, and the two industrial cameras are triggered by the synchronous signal generator 3 to acquire sequence video images of the sea surface floating body 8 fluctuating along with waves at different angles and at the same time and are transmitted to the data receiving and processing module 5 in real time through the data transmission module 4. The left industrial camera 1 and the right industrial camera 2 can be placed in parallel, the distance is 500mm-1000mm, and the distance can be set according to measurement requirements; and the synchronous signal generator is used for providing synchronous trigger signals for the two industrial cameras, so that the pictures received by the computer from the left industrial camera and the right industrial camera are synchronously acquired, and the requirement of the computer on further processing and screening is reduced.
As shown in fig. 1, the data transmission module 4 may adopt an optical fiber or other data transmission mode to transmit the video image of the floating body moving along with the waves, which is acquired by the video image acquisition module, to the data receiving and processing module 5 in real time.
As shown in fig. 1, the data receiving and processing module 5 mainly includes a computer and image processing software programmed by using tools such as OpenCV, and the module collects video images of floating bodies 8 sinking and floating up and down along with waves at the same time at different angles by receiving left and right industrial cameras, respectively extracts image coordinate system floating body centers of the left industrial camera 1 and the right industrial camera 2 by using an image processing and analyzing method, calculates three-dimensional coordinates in a floating body world coordinate system by using a binocular vision stereo matching technology and a photogrammetry principle, and further inverts wave parameters such as wave height and wave period. In the embodiment, the data processing module is integrated in a computer with wide application, so that the manufacturing cost of the buoy attitude measuring device is reduced, and the user experience of a user of the buoy attitude measuring device is improved.
As shown in fig. 1, the wave parameter display module 6 is connected to the data receiving and processing module 5, and can display the wave parameters such as the wave height and the wave period calculated by the data receiving and processing module 5 in real time, so as to improve the user experience of the wave video measuring device.
As shown in fig. 1, the ocean wave video measuring device further includes: the chessboard grid calibration board 7 is a chessboard grid with a plurality of black and white interlaced chequers, wherein the length of a single chequer of the calibration board can be determined according to specific measurement tasks, a video image acquisition device is used for shooting images of the calibration board under a plurality of different conditions, a calibration tool box integrated in a data receiving and processing module is used for calibrating the video image acquisition module according to the shot images of the calibration board, internal parameters (focal length, image center and the like) of a left camera and a right camera and relative pose information (a rotation matrix and a translation matrix) of the left camera and the right camera are determined, a world coordinate system is established according to the determined relative position information, and a binocular vision photogrammetric model is further established.
As shown in fig. 1, the ocean wave video measuring device further includes: the floating body 8 anchored or tied to the sea area to be observed is captured by the data acquisition module and then the data receiving and processing module calculates the wave parameters of the sea area, such as wave height, wave period, etc. The floating body 8 can be a sphere made of high molecular polyethylene material and coated with bright color, and the weight of the floating body is ensured to have good wave following property, and the size of the floating body can be properly adjusted according to different measurement tasks. It should be noted that the utility model discloses in the body quantity of presetting can have a plurality ofly, as long as guarantee the body about the video data acquisition module camera the public field of vision within range can.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.
Claims (6)
1. A wave video measuring device is characterized by comprising a video image acquisition module, a data transmission module, a data receiving and processing module, a wave parameter display module, a floating body tied to the sea surface and a calibration plate;
the video image acquisition module is used for acquiring a motion sequence image of a water surface preset floating body;
the data transmission module is used for transmitting the floating body motion sequence image acquired by the video image acquisition module to the data receiving and processing module in real time;
the data receiving and processing module is used for carrying out data processing on the collected floating body motion sequence image, calculating a three-dimensional coordinate in a central world coordinate system of the floating body and further inverting wave parameters;
the wave parameter display module is connected with the data receiving and processing module and is used for displaying the wave parameters calculated by the data receiving and processing module in real time;
the floating body is tied to a sea area to be observed on the sea surface, and the video image acquisition module acquires a motion sequence image of the floating body sinking and floating along with the sea surface waves;
the calibration board is used for calibrating the video image acquisition module, determining the internal parameter information of the video image acquisition module, and further using the determined parameter information for establishing a world coordinate system and constructing a binocular vision photogrammetry model.
2. The wave video measuring device of claim 1, wherein the floating body is a spherical floating body anchored or moored to the sea surface, and the calibration plate is a chessboard-format calibration plate.
3. The wave video measuring device according to claim 1, wherein the video image acquisition module comprises two gigabit network industrial cameras of the same type and a synchronization signal generator, the two gigabit network industrial cameras are respectively installed on various platforms on the sea surface or near-shore supports and are aligned to the sea area to be measured, and the two gigabit network industrial cameras are triggered by the synchronization signal generator to synchronously acquire sequential video images of the floating body on the sea surface fluctuating along with the waves and are transmitted to the data receiving and processing module through the data transmission module in real time.
4. The wave video measuring device of claim 3, wherein the data transmission module uses gigabit cable or optical fiber for data transmission.
5. The wave video measuring device according to claim 3, wherein the data receiving and processing module is formed by a workstation type computer, and is used for receiving video images of floating bodies sinking and floating along with waves and synchronously acquired by the two industrial cameras, extracting floating body centers of image coordinate systems of the two industrial cameras, calculating three-dimensional coordinates in a world coordinate system of the floating body centers, and further inverting wave parameters.
6. The wave video measuring device of claim 1, wherein the floating body is a sphere made of high molecular weight polyethylene material.
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