WO2011062352A1 - 영상의 시간적 픽셀의 농도 분포 변화를 이용한 액체 경계면 인식방법 및 이를 이용하여 액체높이를 인식하는 액체높이인식장치 - Google Patents
영상의 시간적 픽셀의 농도 분포 변화를 이용한 액체 경계면 인식방법 및 이를 이용하여 액체높이를 인식하는 액체높이인식장치 Download PDFInfo
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- WO2011062352A1 WO2011062352A1 PCT/KR2010/005065 KR2010005065W WO2011062352A1 WO 2011062352 A1 WO2011062352 A1 WO 2011062352A1 KR 2010005065 W KR2010005065 W KR 2010005065W WO 2011062352 A1 WO2011062352 A1 WO 2011062352A1
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- image
- liquid
- pixel
- height
- histogram data
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- 239000007788 liquid Substances 0.000 title claims abstract description 187
- 238000000034 method Methods 0.000 title claims abstract description 47
- 230000002123 temporal effect Effects 0.000 title abstract description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 44
- 238000010586 diagram Methods 0.000 description 8
- 238000005259 measurement Methods 0.000 description 6
- 206010047571 Visual impairment Diseases 0.000 description 5
- 238000011109 contamination Methods 0.000 description 4
- 230000003068 static effect Effects 0.000 description 3
- 241000238876 Acari Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000000356 contaminant Substances 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
Images
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/02—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by gauge glasses or other apparatus involving a window or transparent tube for directly observing the level to be measured or the level of a liquid column in free communication with the main body of the liquid
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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
- G01B11/22—Measuring arrangements characterised by the use of optical techniques for measuring depth
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
- G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
- G01F23/284—Electromagnetic waves
- G01F23/292—Light, e.g. infrared or ultraviolet
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
- G06T1/0007—Image acquisition
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20068—Projection on vertical or horizontal image axis
Definitions
- the present invention relates to a liquid interface recognition method and a liquid interface recognition apparatus using a change in concentration distribution of temporal pixels of an image.
- the present invention recognizes the liquid boundary surface by checking the temporal change of the density of each pixel in the Y direction by using the phenomenon in which the image at the liquid boundary portion is temporally changed from the image continuously photographing the liquid boundary portion.
- the liquid interface recognition method that can increase the accuracy of the liquid height measurement by minimizing the occurrence of errors in measuring the height of the liquid, such as the level of the river, the level in the liquid storage tank, and the liquid to recognize the liquid height using the same It relates to a height recognition device.
- Patent Registration No. 10-0778014 an example of a technique of automatically measuring the height of a liquid by using imaging is disclosed in Patent Registration No. 10-0778014.
- "Liquid height measuring device using an image” disclosed in the above Patent Registration No. 10-0778014 is equipped with a water level table, an image acquisition device, and a height recognition device, and receives the captured image from the image receiver according to the color density Generate a digitized image to recognize the liquid surface, i.e., the liquid interface, and also determine the minimum value by recognizing the number of the watermark from the captured image, and the number of pixels in the vertical direction from the recognized liquid boundary to the number corresponding to the minimum value. It has a configuration that determines the height of the liquid by recognizing it.
- the liquid boundary surface is recognized using only the change in color concentration in the vertical direction, that is, the Y direction in the captured image.
- the position where the color concentration is rapidly changed as going from top to bottom or bottom to top in the Y direction of the captured image is recognized as the liquid boundary surface. Therefore, an error occurred in recognizing the liquid interface in the following cases.
- the difference in color concentration between the top and the bottom may be large at the boundary position of the foundation and the piers, and thus, the boundary position of the foundation and the piers may be incorrectly recognized as the liquid interface.
- the present invention minimizes the error in liquid height measurement that occurs in situations where it is difficult to accurately measure the liquid boundary, including the limitations of the prior art as described above, i.e., the situations illustrated in (1) to (4) mentioned above.
- the purpose is to make it possible.
- the present invention by accurately recognizing the interface of the liquid even when the situation illustrated in (1) to (4) mentioned above occurs, the height of the liquid, such as the level of the river, the level in the liquid storage tank, etc. In order to minimize the occurrence of errors in the measurement to increase the accuracy of the liquid height measurement.
- the present invention provides a method and apparatus for recognizing a liquid boundary using a change over time of the histogram data for a pixel in the Y direction in an image of the liquid boundary surface photographed continuously.
- gray image processing of the image taken to include the liquid boundary surface is performed in the X direction and Digitizing each pixel distributed in the Y direction according to the density (S1); Extracting only an image of a graduation area in which the major and minor scales are displayed in the X-direction in the water table from the image in which each pixel is digitized (S2); Summing the numerical values of all the pixels in the X direction at the same position in the Y direction in the image for the extracted scale region, and calculating the numerical values of each pixel in the summed Y direction to form histogram data for the Y direction of the pixels.
- the present invention is a liquid height recognition device for determining the height of the liquid by recognizing the liquid boundary surface from the image obtained by continuously photographing the water level table to include the liquid boundary surface through the image acquisition device, the water level table is continuously included so that the liquid boundary surface
- an image receiving unit for receiving the image captured by the image acquisition device, a main control unit for determining the height of the liquid from the captured image, and a shooting signal control module for operating the image acquisition device under the control of the main control unit.
- the main control portion is provided with a liquid height recognition device characterized in that to determine the height of the liquid in accordance with the liquid interface recognition method according to the present invention described above.
- the process of edge processing of the image may be further performed through the binarization process.
- FIG. 3 is a flowchart for explaining each method step of the liquid interface recognition method according to the present invention.
- FIG. 4 is a diagram for one example of an image acquired such that the boundary surface of the liquid is included in the water level table.
- FIG. 6 is a diagram illustrating an edge-processed photographed image.
- the liquid boundary recognition method of the present invention is a method of recognizing a liquid boundary surface from an image obtained by continuously photographing the water level table 101 so that the liquid boundary surface is included.
- Gray image processing of the image captured to include the liquid boundary surface Digitizing each pixel distributed in the X direction and the Y direction according to the density (S1); Extracting only an image of a graduation area in which the major and minor scales are displayed in the X-direction in the water table from the image in which each pixel is digitized (S2); Summing the numerical values of all the pixels in the X direction at the same position in the Y direction in the image for the extracted scale region, and calculating the numerical values of each pixel in the summed Y direction to form histogram data for the Y direction of the pixels.
- the liquid height recognition device of the present invention is a liquid height recognition device for determining a liquid height by recognizing a liquid boundary surface from an image obtained by continuously photographing a water level table so that a liquid boundary surface is included through an image acquisition device.
- An image receiving unit for receiving an image of the water level continuous from the image acquisition device, a main control unit for determining the height of the liquid from the captured image, and a photographing signal control module for operating the image acquisition device under control of the main control unit It is configured to include;
- the main control unit may determine the height of the liquid according to the liquid interface recognition method according to the present invention.
- liquid height measuring device which may include a liquid height recognition device to which a liquid interface recognition method according to an embodiment of the present invention is applied, the liquid height measurement disclosed in Patent Registration No. 10-778014.
- a schematic diagram and block diagram showing the configuration of the apparatus are disclosed.
- the liquid interface recognition method according to the present invention is applied, and the liquid height measuring apparatus which can be provided with the liquid height recognition device according to the present invention is disclosed in FIGS. 1 and 2 and Patent No. 10-888014,
- the watermark (101) and the watermark (101) and the watermark (101) which are installed by being submerged perpendicularly to the liquid, are marked with a major scale consisting of numbers, and a minor scale consisting of signs such as a bar.
- the liquid height recognition device 103 of the liquid height measuring device the image receiving unit 203 for receiving an image captured by the image acquisition device 102, the main control unit for determining the height of the liquid from the captured image 20, a photographing signal control module 202 for operating the image acquisition device 102 under the control of the main controller 201.
- the member number 101 is the water level table 101
- the member number 102 is the image acquisition unit 102
- the member number 103 is the height recognition unit 103
- the member number 104 is the central management unit 104.
- Is a liquid 105 and a member 107 is a support 107.
- the liquid interface recognition method according to the present invention is performed by the main controller 201 described above. That is, the main controller 201 of the liquid height recognition device 103 according to the present invention recognizes the liquid height by identifying the liquid boundary surface by the liquid interface recognition method according to the present invention. As will be described later below, the main controller 201 of the liquid height recognition device 103 according to the present invention is a liquid interface according to a liquid interface recognition method different from the main controller 201 disclosed in Patent Registration No. 10-778014. Will be recognized.
- FIG. 3 is a flowchart illustrating each method step of the liquid interface recognition method according to the present invention.
- 4 shows an example of an image acquired such that the boundary surface of the liquid 501 is included in the water level table 101.
- reference numeral 502 denotes a minor scale.
- the liquid interface recognition method according to the present invention is based on the premise that the image including the liquid boundary surface is acquired in the water level table 101.
- the image acquisition device 102 the image photographing the water level table 101 is continuously acquired such that the liquid boundary surface as illustrated in FIG. 4 is included, and the acquired image is transferred to the height recognition device 103.
- the liquid interface is recognized through the liquid interface recognition method according to the present invention.
- a height recognition device (103) comprising an image obtained by photographing the water level table (101) so as to include a liquid boundary surface, and continuously acquiring the acquired image by the image acquisition device (102). Since an example of the method steps and the configuration to be transmitted to is disclosed in Patent Registration No. 10-778014, repeated description thereof is omitted by using the contents of the Patent Registration No. 10-778014.
- a continuous photographing image of the water level table 101 to be used in the liquid interface recognition device and the liquid interface recognition method according to the present invention that is, an image of the water level table 101 continuously photographed so that the liquid boundary surface is included. This is illustrated as being obtained by the method disclosed in Patent Registration No. 10-778014, but is not limited thereto. Therefore, the image acquired by continuously photographing the water level table 101 may be used in the liquid boundary recognition method and the liquid boundary recognition apparatus of the present invention so that the liquid boundary surface is included by other methods.
- the liquid interface is recognized based on the change in color concentration over time in the image of the water level table 101 to include the liquid interface at different times. That is, for each image photographing the water level table 101 at a predetermined time interval, the histogram data according to the color density in the image taken at the previous time and the histogram data according to the color concentration in the image taken at the subsequent time.
- the liquid interface is recognized by detecting whether a change in color concentration (change between histogram data) occurs.
- the liquid interface recognition method and the liquid interface recognition device will be described in more detail.
- the liquid interface recognition according to the present invention is performed in a state in which an image photographing the water level table 101 is continuously captured and acquired so that the liquid interface is included.
- the apparatus performs a gray image processing (a process of making the photographed image black and white) of the photographed image to include the liquid boundary surface, and digitizes each pixel distributed in the X and Y directions according to the density (S1).
- the X direction represents the horizontal direction of the water level table
- the Y direction represents the height direction of the water level table, that is, the vertical direction (the direction in which the liquid level rises and falls).
- the pixel concentration digitization step S1 is performed to make the image captured to include the liquid boundary in black and white (gray image processing), and thus exist in the black and white image.
- the density of each pixel (dark and dark in the black and white image) is digitized.
- the density of each pixel in the black and white image has a value of about 0 ?? 255. Since the gray image processing of the photographed image and the method itself for digitizing each pixel according to the density are already known in the field of image processing, a detailed description thereof will be omitted.
- FIG. 5 is a diagram illustrating a photographed image before edge processing
- FIG. 6 is a diagram representing an edge processed photographed image.
- the watermark is displayed on the water table. The borders of numbers or letters become thicker and clearer, so that even if a dark image is acquired due to lack of light at night, the numbers displayed on the scale can be more easily recognized.
- the density change of each pixel is continuously changed. For example, pixels may flash over time. If the pixel concentration is continuously changed over time, it is difficult to find the correct liquid interface.
- edge processing is performed as described above, the pixel glow in the image over time is also removed. Since a specific method of edge-processing a captured image is an image processing method that is already known in the field of image processing, a detailed description thereof will be omitted.
- the pixel in the X-direction width and the already known X-direction width of the major scale are already referred to, based on the coordinates in the X-direction at the point where the water level table 101 starts from the digitized image.
- the step S2 of extracting only an image of a region in which the major and minor scales are displayed in the X direction is performed using the known width of the minor scale in the X direction.
- tick area When an image is extracted for an area marked with major and minor ticks (“tick area”), the values of all pixels in the X direction at the same position in the Y direction are summed from the image of the extracted tick area, and all Step S3 is performed to form histogram data for the Y direction of the pixel using the numerical value of each pixel in the Y direction that is the sum of the numerical values of the pixels.
- the numerical sum of each pixel from pixel P 11 to pixel P m1 is determined for pixel P xy , and pixel P
- the numerical sum of each pixel from 21 to pixel P m1 is calculated, and the operation of calculating the numerical sum of each pixel is repeated to obtain the sum of the numerical values of each pixel from pixel P 1n to pixel P mn .
- the numerical value of each pixel in the Y direction which is the sum of the numerical values of the pixels.
- the obtained "number of pixels in the Y direction which is the sum of the values of all the pixels in the X direction" is taken as histogram data for the Y direction of the pixels.
- the histogram data forming step S3 in the Y direction of the pixel is repeatedly performed for each successive photographed image, and the histogram data is compared with each other for the before and after images (S4).
- the histogram data for the Y direction of the pixel is formed for the image photographed at the time t1, and the histogram data for the Y direction of the pixel for the image photographed at the time t2 subsequent to the time t1.
- the histogram data at time t1 is compared with the histogram data at time t2.
- the comparison of the histogram data for the before and after images at such time determines whether or not a difference of more than a preset increase value occurs.
- the difference between the histogram data is previously determined.
- a pixel starting to be equal to or larger than the set increment value is regarded as a pixel located on the boundary of the liquid, and the position (height) of the pixel is recognized as the liquid boundary (S5).
- the height of the liquid interface is subsequently calculated.
- An example of a specific method for calculating the height of the liquid interface is disclosed in detail in Patent Registration No. 10-778014. That is, in the image that recognizes the liquid boundary, it recognizes the number of the major scale engraved on the water table, determines the minimum value and the height value per pixel, and determines the vertical value from the liquid boundary to the number corresponding to the minimum value. The distance from the minimum value to the liquid interface is calculated by counting the number of pixels in the direction and multiplying the height value per pixel, and the actual liquid height is calculated by subtracting the calculated distance from the minimum value. Other matters regarding an example of the process of calculating the height of the liquid interface are omitted by repeating the contents of Korean Patent Registration No. 10-778014.
- a histogram for pixels in the Y direction generated between captured images having a temporal forward and backward relationship in an image of a liquid interface continuously photographed.
- the change in the data is used to recognize the liquid interface.
- the liquid interface is recognized based on the change in the color concentration in the static state as well as the change in the color concentration in time. That is, the difference between the histogram data for the Y direction of the pixel for the image photographed at the time t1 and the histogram data for the Y direction of the pixel for the image photographed at the time t2 subsequent to the time t1, and the difference between the histogram data.
- the position at which the value starts to exceed the preset increment is recognized as the liquid interface. Therefore, in the situation where it is difficult to recognize the liquid interface as described above, the error of recognizing the wrong position as the liquid interface does not occur, and the correct liquid interface is recognized.
- the static image or the position where the contamination started may
- the jammed position, or the position where the water level table is connected in multiple stages corresponds to the color density sudden change position, and the prior art makes an error of recognizing it as a liquid boundary surface.
- the difference in color concentration that is, the histogram data between the before and after images of which time is changed according to the present invention, is changed from the contamination start position to the time.
- the resulting change in histogram data will not be sufficient to be regarded as the liquid interface, and according to the present invention there will be no error that would recognize such a contamination start position as the liquid interface.
- the liquid interface has a characteristic of continuously moving in addition to the rapid change in color concentration, the difference in the histogram data between the before and after images of the time varying greatly occurs at the liquid interface. Since the liquid interface is recognized based on the difference in the histogram data between the before and after images, it is possible to recognize the exact liquid interface, thereby accurately measuring the height of the liquid interface.
Abstract
Description
Claims (3)
- 액체 경계면이 포함되도록 수위표(101)를 연속적으로 촬영하여 취득한 영상으로부터 액체 경계면을 인식하는 방법으로서,액체 경계면이 포함되도록 촬영된 영상을 그레이(Gray) 영상처리하여 X방향과 Y방향으로 분포되어 있는 각 픽셀을 농도에 따라 수치화하는 단계(S1);각 픽셀이 수치화된 영상으로부터, 수위표(101)에서 X방향으로 주 눈금과 보조 눈금이 표시되어 있는 눈금 영역에 대한 영상만을 추출하는 단계(S2);추출된 눈금 영역에 대한 영상에서 Y방향으로 동일한 위치에 있는 X방향의 모든 픽셀의 수치를 합산하고, 합산된 Y방향으로의 각 픽셀의 수치를 구하여 픽셀의 Y방향에 대한 히스토그램 데이터를 형성하는 단계(S3);연속적인 촬영 영상 각각에 대해 픽셀의 Y방향에 대한 히스토그램 데이터 형성 단계를 반복하여 연속적으로 수행하여, 시간적으로 전, 후 관계를 갖는 촬영영상에 대해 히스토그램 데이터를 서로 비교하여, 상기 시간적으로 전, 후 관계를 갖는 촬영영상 간의 히스토그램 데이터에 미리 설정한 증가값 이상의 차이가 발생하는지 여부를 판단하는 단계(S4); 및미리 설정한 증가값 이상의 차이가 발생하기 시작하게 되는 픽셀을 액체의 경계면에 위치하는 픽셀로 보아 해당 픽셀의 Y방향 위치(높이)를 액체 경계면으로 인식하는 단계(S5)를 포함하는 것을 특징으로 하는 액체 경계면 인식방법.
- 제1항에 있어서,촬영한 영상의 밝기가 사전 설정된 밝기 이하일 때에는 상기 촬영 영상의 픽셀 수치화 단계(S1)에서는, 픽셀의 변화를 제거하고 수위표의 표시내용을 명확하게 보이도록 하기 위하여, 영상의 이진화 처리를 통해 영상을 에지(edge) 처리하는 작업을 더 수행하는 것을 특징으로 하는 액체 경계면 인식방법.
- 영상취득장치(102)를 통해 액체 경계면이 포함되도록 수위표(101)를 연속적으로 촬영하여 취득한 영상으로부터 액체 경계면을 인식하여 액체(105)의 높이를 결정하는 액체높이인식장치(103)로서,액체 경계면이 포함되도록 수위표(101)를 연속적으로 촬영한 영상을 영상취득장치(102)으로부터 수신하는 영상수신부(203)와, 촬영한 영상으로부터 액체의 높이를 결정하는 주제어부(201)와, 상기 주제어부(201)의 제어에 따라 영상취득장치(102)를 작동시키는 촬영신호 제어모듈(202)을 포함하여 구성되며;상기 주제어부(201)는,액체 경계면이 포함되도록 촬영된 영상을 그레이(Gray) 영상처리하여 X방향과 Y방향으로 분포되어 있는 각 픽셀을 농도에 따라 수치화하는 단계(S1);각 픽셀이 수치화된 영상으로부터, 수위표(101)에서 X방향으로 주 눈금과 보조 눈금이 표시되어 있는 눈금 영역에 대한 영상만을 추출하는 단계(S2);추출된 눈금 영역에 대한 영상에서 Y방향으로 동일한 위치에 있는 X방향의 모든 픽셀의 수치를 합산하고, 합산된 Y방향으로의 각 픽셀의 수치를 구하여 픽셀의 Y방향에 대한 히스토그램 데이터를 형성하는 단계(S3);연속적인 촬영 영상 각각에 대해 픽셀의 Y방향에 대한 히스토그램 데이터 형성 단계를 반복하여 연속적으로 수행하여, 시간적으로 전, 후 관계를 갖는 촬영영상에 대해 히스토그램 데이터를 서로 비교하여, 상기 시간적으로 전, 후 관계를 갖는 촬영영상 간의 히스토그램 데이터에 미리 설정한 증가값 이상의 차이가 발생하는지 여부를 판단하는 단계(S4); 및미리 설정한 증가값 이상의 차이가 발생하기 시작하게 되는 픽셀을 액체의 경계면에 위치하는 픽셀로 보아 해당 픽셀의 Y방향 위치(높이)를 액체 경계면으로 인식하는 단계(S5)를 통해 액체의 높이를 결정하게 되는 것을 특징으로 하는 액체높이인식장치.
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