WO2018113257A1

WO2018113257A1 - Technical field of method, device and system for acquiring target curved surface

Info

Publication number: WO2018113257A1
Application number: PCT/CN2017/091951
Authority: WO
Inventors: 刘若鹏; 栾琳; 许发国
Original assignee: 东莞前沿技术研究院
Priority date: 2016-12-20
Filing date: 2017-07-06
Publication date: 2018-06-28
Also published as: CN108205817A; CN108205817B

Abstract

Provided are a method, device and system for acquiring a target curved surface. The method comprises: collecting an image generated by a light ray projected onto a target curved surface, the image comprising: a plurality of bright stripes, wherein the light ray is an emergent light ray emitted from two pre-set light sources, and the bright stripes respectively from the two pre-set light sources are arranged at intervals; obtaining a plurality of target points from the bright stripes in the image; acquiring a coordinate value of the plurality of target points, and according to the coordinate value of the plurality of target points, acquiring the target curved surface; and according to the target curved surface, determining the volume of a ballonet. The technical problem in the prior art that when a binocular camera is used to monitor the state of an airship ballonet, high registration difficulty of the binocular camera results in low accuracy is solved.

Description

Description: Method, device and system for obtaining a target curved surface

[0001] The present invention relates to the field of airships, and in particular to a method, device and system for acquiring a target curved surface

[0002] The sub airbag is an indispensable component of the airship. The airbag and the aerodynamic shape of the entire airship capsule are maintained at different temperatures by the charge and discharge of the sub airbag, thereby ensuring the continuous floating capacity of the airship. Therefore, in the design practice of the airship, it is necessary to monitor the state of the sub-airbag. Due to the characteristics of the overall structure of the sub-airbag, it can only be monitored by the non-contact method.

technical problem

[0003] The existing monitoring method of the airship sub-airbag is based on the three-dimensional reconstruction method, using a laser three-dimensional scanning method or stereo reconstruction based on binocular stereo vision, and three-dimensional reconstruction is a highly feasible method. However, the laser three-dimensional scanning method using laser three-dimensional scanning method is too expensive, based on binocular stereoscopic stereo reconstruction, because the binocular camera needs to be pre-calibrated, the calibration difficulty is high, and the complicated airflow in the capsule is difficult to ensure. The steady state necessary for binocular vision, so stereoscopic vision cannot reach the standard at a distance of more than 25m. In view of the state of the art in monitoring the airbag sub-airbag by using a binocular camera in the prior art, an effective solution has not been proposed due to the high accuracy of the binocular camera, resulting in low accuracy.

Problem solution

Technical solution

Embodiments of the present invention provide a method, apparatus, and system for acquiring a target curved surface, so as to at least solve the problem of monitoring the airbag sub-airbag by using a binocular camera in the prior art, because the binocular camera has high registration difficulty. A technical problem that leads to low accuracy. According to an aspect of the embodiments of the present invention, a method for acquiring a target surface is provided, including: collecting an image generated by a light projected on a target surface, the image comprising: a plurality of bright stripes, wherein the light is two presets The emitted light from the light source is arranged from the light stripe of the two preset light sources; the plurality of target points are taken from the bright stripe in the image; the coordinate values of the plurality of target points are obtained, and the coordinate values of the plurality of target points are obtained according to the coordinates of the plurality of target points Get the target surface; according to the target surface The volume of the sub-balloon is fixed. According to another aspect of the embodiments of the present invention, an apparatus for acquiring a target curved surface is further provided, including: an acquisition module, configured to collect an image generated by a light projected on a target curved surface, where the image includes: a plurality of bright stripes, wherein The light is the outgoing light emitted by the two preset light sources, which are respectively arranged by the bright stripes of the two preset light sources; the first obtaining module is configured to take a plurality of target points from the bright stripes in the image; the second acquiring module And acquiring coordinate values of the plurality of target points, and acquiring the target surface according to the coordinate values of the plurality of target points; and determining a module, configured to determine the volume of the sub-airbag according to the target curved surface. According to still another aspect of the embodiments of the present invention, a system for acquiring a target curved surface is provided, including: two preset light sources for emitting emitted light; and an image capturing device for collecting the projected light from the target curved surface The resulting image includes: a plurality of bright stripes, the target surface is the surface of the airship sub-balloon; the controller is coupled to the image acquisition device for taking a plurality of target points from the bright stripes in the image; The coordinate value of the target point, the target surface is obtained according to the coordinate values of the plurality of target points; and the volume of the airship sub-airbag is determined according to the target curved surface. .

Advantageous effects of the invention

Beneficial effect

[0005] In the embodiment of the present invention, an image generated by ray casting on a target curved surface is acquired, a plurality of target points are taken from bright stripes in the image, coordinate values of the plurality of target points are acquired, and according to multiple targets The coordinate value of the point acquires the target surface, and the volume of the sub-bag is determined according to the target surface. The above scheme has strong applicability. Even if the attitude of the light source and the camera changes greatly during the use, there is no need to calibrate, and the condition of the sub-balloon can be effectively monitored, and the accuracy of the monitoring can also meet the actual demand.

Brief description of the drawing

DRAWINGS

The drawings are intended to provide a further understanding of the present invention, and are intended to be a part of the present invention, and the description of the present invention and the description thereof are not intended to limit the invention. In the drawing:

1 is a flow chart of a method of acquiring a target curved surface according to an embodiment of the present invention;

2 is a schematic diagram showing an alternative preset light source and a camera according to an embodiment of the invention;

3 is a schematic diagram of an image captured by an optional camera according to an embodiment of the invention;

4 is a schematic diagram of an optional acquisition target point coordinate value according to an embodiment of the invention; [0011] FIG. 5 is a schematic structural diagram of an apparatus for acquiring a target curved surface according to an embodiment of the present invention;

6 is a schematic structural diagram of a system for acquiring a target curved surface according to an embodiment of the present invention.

Embodiments of the invention

The technical solutions in the embodiments of the present invention will be clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. The embodiments are merely a part of the embodiments of the invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without departing from the inventive scope should fall within the scope of the present invention.

[0014] It should be noted that the terms "first", "second" and the like in the specification and claims of the present invention and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or Prioritization. It is to be understood that the data so used may be interchanged as appropriate, so that the embodiments of the invention described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "comprises" and "comprising" and "comprises" and "the" are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited to Those steps or units may include other steps or units not explicitly listed or inherent to such processes, methods, products or devices.

[0015] Example 1

[0016] In accordance with an embodiment of the present invention, an embodiment of a method of acquiring a target curved surface is provided. It is noted that the steps illustrated in the flowchart of the accompanying drawings may be performed in a computer system such as a set of computer executable instructions. And, although the logical order is shown in the flowcharts, in some cases, the steps shown or described may be performed in a different order than the ones described herein.

1 is a flowchart of a method for acquiring a target curved surface according to an embodiment of the present invention. As shown in FIG. 1, the method includes the following steps:

[0018] Step S102, collecting an image generated by the light being projected on the target curved surface, the image comprising: a plurality of bright stripes, wherein the light is the outgoing light emitted by the two preset light sources, respectively, from the brightness of the two preset light sources. The stripes are arranged at intervals.

[0019] Specifically, the target curved surface is a surface of a sub airbag of an airship to be monitored, and in the foregoing step, The image containing the bright stripes is captured by the camera.

[0020] In an optional embodiment, the bright stripe may be obtained by splitting and modulating the outgoing light of the preset light source, and the light emitted by the preset light source is split and modulated to obtain a bright and dark line arranged at intervals. The bright and dark lines arranged at intervals will form bright stripes on the surface of the sub-balloon, and then the camera will capture an image of bright stripes.

[0021] Step S104, taking a plurality of target points from the bright stripes in the image.

[0022] Specifically, the above target point is used to determine a target curved surface.

[0023] It should be noted that the spacing of the plurality of bright stripes is different, and the intensity of the target points is different. Therefore, the monitoring precision of the same target surface is also affected by the spacing of the plurality of bright stripes and the denseness of the target points. The extent of the impact. In the case where there are many target points obtained, the target surface obtained by the monitoring is more accurate, but the calculation amount is larger because there are more target points; and the target surface obtained by monitoring is not enough when the target points are small. Accurate, but the amount of data calculation is small. Therefore, the target point can be obtained according to the actual monitoring requirements to achieve a balance between accuracy and calculation.

[0024] Step S106: Acquire coordinate values of the plurality of target points, and acquire the target surface according to the coordinate values of the plurality of target points.

[0025] In the above steps, after determining the target point, the coordinate value of the plurality of target points may be combined, and the target surface with higher similarity may be obtained by the three-dimensional reconstruction method, and the obtained result may include a surface for representing the target surface. Schematic diagram of functions and/or target surfaces.

[0026] It should be noted that the method for obtaining a target curved surface provided by the foregoing embodiment has better environmental adaptability, simple system construction, clear image processing, and low cost. It can be applied to the airbag sub-airbag monitoring, and can also be applied to the production of dual-filler stereo imaging cameras and 3D reconstruction applications in darkroom environments. It can play the role of three-dimensional reconstruction, stereo photography, target position monitoring, and stereoscopic image reconstruction in these scenes.

[0027] As can be seen from the above, the above steps of the present application collect an image generated by ray casting on a target curved surface, take a plurality of target points from the bright stripes in the image, and coordinate values of the plurality of target points, and according to the plurality of The coordinate value of the target point gets the target surface. The above scheme has strong applicability, and even if the preset light source and the posture of the camera change greatly during use, there is no need to calibrate, which is suitable for obtaining variable surface in various scenes, and is particularly suitable for monitoring the airbag in the airbag. The surface of the capsule surface, the accuracy of monitoring can also meet the actual Demand.

[0028] Optionally, according to the foregoing embodiment of the present application, before the image generated by the light being projected on the target curved surface is collected in step 102, the method further includes: Step S108, generating a light stripe, wherein the step of generating the light stripe Includes:

[0029] Step S112, two preset light sources spaced apart by a preset distance are disposed in front of the target curved surface.

[0030] Step S114, splitting and modulating the outgoing light of the two preset light sources to form a plurality of bright stripes.

[0031] Specifically, the preset light source may be a near-infrared light source, and a plurality of bright stripes are formed by splitting modulation.

2 is a schematic diagram of an optional preset light source and a camera according to an embodiment of the present invention. In an optional case, in combination with the example shown in FIG. 2, the preset light source is a near-infrared light source. Before being placed on the target surface, the first light source 1 emits the first light source splitting light 201, the second light source 2 emits the second light source splitting light 20 2, and the first light source splitting light 201 and the second light splitting light 202 are The target curved surface 203 has a certain overlapping coverage surface, and the camera 3 for acquiring an image is located between the first light source 1 and the second light source 2, and collects bright stripes formed by the emitted light. On the overlapping coverage surfaces of the first source splitting ray 201 and the second source splitting beam 202 on the target curved surface 203, the bright stripes emitted by the first light source 1 and the second light source 2 are spaced apart.

[0033] It should be noted here that the distribution position of the camera and the preset light source is not necessarily limited to the above embodiment, and the distance between the first light source 1 and the second light source 2 is known, and the first light source 1 and In the case where the angle between the two bright stripes and the baseline (the line between the first light source 1 and the second light source 2) is reached, the coordinate value of the target point can be acquired by a predetermined calculation method.

[0034] In an alternative embodiment, the diffractive grating may be utilized to form the exiting ray into a plurality of bright stripes.

[0035] As can be seen from the above, in the above steps of the present application, two preset light sources spaced apart by a predetermined distance are disposed in front of the target curved surface, and the emitted light of the two preset light sources is split-modulated, so that the outgoing light forms bright stripes. The above scheme forms an image for acquiring a target point by setting a light source in front of the target surface and splitting the preset light source.

[0036] Optionally, according to the foregoing embodiment of the present application, in step 104, taking multiple target points from the bright stripes in the image includes:

[0037] Step S1041: Take an equally spaced line of the acquired image, where the straight line intersects the plurality of bright stripes.

[0038] Specifically, the device used for acquiring the image may be the camera 3, as an optional embodiment, The straight line may be perpendicular to the bright stripe. In the case where the plurality of bright stripe are vertical bright stripe, the straight line is a horizontal line. In conjunction with the example shown in FIG. 2, the camera 3 may be disposed on the first light source 1 and the second light source 2. And the distance from the first light source 1 and the second light source 2 is equal. FIG. 3 is a schematic diagram of an image captured by the optional camera 3 according to an embodiment of the present invention. The result of taking the equally spaced horizontal lines of the acquired image may be as shown in FIG. 3. In an optional embodiment, in combination with the example shown in FIG. 3, by the beam splitting modulation, the bright stripes formed by the light source 1 and the light source 2 on the target curved surface are vertical bright stripes, at the light source 1 and the light source 2 Equally spaced horizontal lines on the target surface covered by the bright stripes. The equidistant horizontal lines are parallel to the lines connecting the first light source 1 and the second light source 2.

[0039] Step S1043: Determine an intersection of the straight line and the plurality of bright stripes as a plurality of target points.

[0040] Each horizontal line and the bright strips of the first light source 1 and the second light source 2 generate intersections, which are the target points.

[0041] As can be seen from the above, the above steps of the present application acquire target points by taking equally spaced horizontal lines on the acquired images.

[0042] Optionally, according to the foregoing embodiment of the present application, in step 106, the two preset light sources are the first light source and the second light source 2, and the method for acquiring coordinate values of the plurality of target points includes:

[0043] Step S1061, the two preset light sources are the first light source 1 and the second light source 2, and the first light source 1 of the two preset light sources is determined as the origin, and the connection between the first light source 1 and the second light source 2 is taken as the first Determining, in a dimension, a direction perpendicular to the first dimension on the preset plane is a second dimension, wherein the preset plane is a plane determined by two preset light sources and a target point C to be measured, and the target point C belongs to the second dimension The point on the mth bright strip that is emitted by the source 2 and formed on the target surface.

[0044] Step S1062: Establish a coordinate system according to the first dimension and the second dimension.

[0045] In an optional embodiment, FIG. 4 is a schematic diagram of an optional acquisition target coordinate value according to an embodiment of the present invention, and the coordinate system established in the example is combined with the example shown in FIG. The origin 0 is the position of the first light source 1, P (1, 0) is the position of the second light source 2, the X-axis direction is the direction in which the first light source 1 extends toward the second light source 2, and the y-axis direction is the first light source. 1. The direction in which the second light source 2 and the target point C are determined to extend perpendicular to the X-axis direction on the plane, and the y-axis coordinate of the target point C is positive.

[0046] Step S1063, as shown in FIG. 4, select, among the two coordinate strips of the two light strips emitted by the first light source 1 adjacent to the opposite sides of the target point C as two first auxiliary points A and B, straight line AC and straight line BC near It seems to be a straight line LI; the auxiliary line passing through the origin 0 and the auxiliary point A is L2, the auxiliary line passing through the origin 0 and the auxiliary point B is L3, and the position of the second light source 2 is P(l, 0) and the auxiliary of the target point C The line L4 intersects the auxiliary lines L2 and L3 at the two second auxiliary points E and D, respectively; and acquires the coordinate values (x2, y2) and (xl, yl) of the two second auxiliary points E and D.

[0047] Point A and Point B are points on the nth and n+1th bright stripes emitted by the first light source 1, and point C is a point on the mth bright stripe emitted by the second light source 2, according to the grating Parameters such as diffraction principle and grating constant, source wavelength, etc., n and m are known natural numbers that can be measured, that is, the angles α, β, and γ of the auxiliary lines L2, L3, and L4 with the x-axis are measurable. That is, the angles α, β, γ are known, and in Fig. 4, the distance between the first light source 1 and the second light source 2, that is, the line segment 0Ρ is also known. Then, in the triangle ΕΟΡ, the length of 0Ρ is known, and the angles α and γ are known, then the coordinate value (xl, yl) of the point D can be calculated. Similarly, the coordinate value of the point E can be calculated (x2 , y2).

[0048] Step S1065: Acquire coordinate values of the target point according to the coordinate values of the two second auxiliary points E and D and the proportional relationship between the distances of the two first auxiliary points A and B and C.

[0049] The ratio of the length of the line segment AC to BC can be measured by the bright stripe image as shown in FIG. 2 taken by the camera 3: point C is a point on a known bright stripe in FIG. 3, measurement and point C The distance between the two bright stripes adjacent to the two sides and the bright stripes at the C point, that is, the number of pixels in the horizontal direction between the bright stripes is calculated, and the ratio of the lengths of the segments AC and BC can be obtained. In this embodiment, since the distance between adjacent stripes is smaller than the distance from the X axis, the ratio of the length of the line segment EC to DC can be approximately equal to the ratio of the lengths of the line segments AC and BC, that is, Point 1), the coordinates of point E, and the ratio of EC/DC, the coordinate value of the target point C is obtained.

[0050] As can be seen from the above, the above steps of the present application achieve the technical purpose of acquiring a target point by constructing a coordinate system and an auxiliary point.

[0051] Step S1066: Replace the target point C to be replaced with another target point, and repeat steps S1061-S1065 until the coordinate values of all the predetermined target points are acquired.

[0052] Optionally, according to the foregoing embodiment of the present application, after acquiring the coordinate values of the plurality of target points, and acquiring the target surface according to the coordinate values of the plurality of target points, the method further includes:

[0053] Step S110: Determine a volume of the airship sub-airbag to which the target curved surface belongs according to the target curved surface.

[0054] Specifically, the volume of the airship sub-airbag is used to characterize the inflation of the sub-bag, so that the fly can be obtained. The state of the airbag of the boat, and the flight status of the airship.

[0055] Step S112: Obtain a preset safety volume range.

[0056] Specifically, the preset safety volume range may include a maximum volume and a minimum volume.

[0057] Step S114, when the volume of the airship sub-airbag is not in the safe volume range, an alarm signal is issued.

[0058] Specifically, in a case where the volume of the airship sub-airbag is larger than the maximum volume or smaller than the minimum volume, it is confirmed that the volume of the airbag sub-airbag is not within the safe volume range, and therefore the sub-bag is in an unsafe state, and an alarm signal is issued. It is also possible to have a real data display device for displaying the volume of the sub-bag.

[0059] It should be noted that the airbag sub-airbag is filled with air inside, is inside the airship main airbag, and is filled with helium gas, and the airship is provided with buoyancy through the helium between the main airbag and the sub-airbag. In an optional embodiment, if the volume of the sub-bag is less than the minimum volume and an alarm signal is generated, the airship main airbag may be considered to be too large, possibly due to excessive gas temperature in the main airbag; In an alternative embodiment, since the alarm signal is generated due to the volume of the sub-bag being larger than the maximum volume, the airbag airbag may be considered to be too small, possibly due to the air temperature of the airbag being too low.

[0060] As can be seen from the above, the above steps of the present application obtain an initial safe volume range, and when the volume of the airship sub-airbag is not in the safe volume range, an alarm signal is issued, and the state of the airship sub-airbag is monitored. Thereby, the monitoring of the flight state of the airship is realized.

[0061] Optionally, according to the foregoing embodiment of the present application, two preset light sources and devices for acquiring images are disposed in the airbag sub-airbag, and the method for determining the volume of the airship sub-airbag to which the target curved surface belongs according to the target curved surface includes: : Integrate the surface using the distance from the target point on the surface to the source to obtain the internal volume of the airship sub-balloon.

[0062] In an alternative embodiment, described with the example shown in FIG. 2, 203 is the target curved surface of the airship sub-balloon, that is, the portion photographed by the camera, the first light source 1 and the second light source 2 are both In the airbag sub-airbag, after the target curved surface is acquired, the vertebral body with the first light source 1 as the cone top and the curved surface 203 as the bottom surface can be obtained, and since the coordinates of each target point on the target curved surface are acquired, it can be known. The distance from each target point on the curved surface 203 to the cone-top light source 1 is integrated with the distance from the target point on the curved surface 203 to the light source 1 to obtain the volume of the vertebral body. The volume of the vertebral body can be obtained by the volume of the vertebral body. The internal volume of the airbag. Example 2

[0064] According to the method for acquiring a target curved surface provided by Embodiment 1, the present application further provides an apparatus for acquiring a target curved surface, and FIG. 5 is a schematic structural diagram of an apparatus for acquiring a target curved surface according to an embodiment of the present invention. Includes:

[0065] The acquisition module 50 is configured to collect an image generated by the light being projected on the target curved surface, where the image includes: a plurality of bright stripes, wherein the light is the outgoing light emitted by the two preset light sources, respectively, from the two presets. The light strips of the light source are arranged at intervals.

[0066] Specifically, the target curved surface is a surface of a sub-balloon to be monitored, and in the above step, an image containing a plurality of bright stripes may be collected by a camera.

[0067] In an optional embodiment, the bright stripe may be obtained by splitting and modulating the outgoing light of the preset light source, and the light emitted by the preset light source is split and modulated to obtain bright and dark lines arranged at intervals. The bright and dark lines arranged at intervals will avoid the formation of multiple bright stripes in the sub-balloon, and then the camera will capture images of multiple bright stripes.

[0068] Specifically, the target point is used to determine a target curved surface.

[0069] It should be noted that the spacing of the bright stripes is different, and the density of the target points is not necessarily the same. Therefore, the monitoring accuracy of the same target surface is also affected by the spacing of multiple bright stripes and the concentration of the target points. The degree of influence, in the case of more target points obtained, the target surface obtained by the monitoring is more accurate, but the calculation amount is larger due to more target points, and the monitoring result is obtained when the target points are small. The target surface is not precise enough, but the amount of data calculation is small, so the target point can be obtained according to the actual monitoring requirements.

[0070] The first obtaining module 52 is configured to take a plurality of target points from the bright stripes in the image.

[0071] The second obtaining module 54 is configured to acquire coordinate values of the plurality of target points, and acquire the target curved surface according to the coordinate values of the plurality of target points.

[0072] In the above device, since the light source is a preset light source, the distance between the light source and the target curved surface is known, and after determining the target point, each target can be calculated according to the distance relationship between the light source and the target curved surface. The coordinate value of the point, in an optional embodiment, the target surface with higher similarity can be directly obtained according to the three-dimensional reconstruction method. The three-dimensional stereo reconstruction method in this embodiment may be the method as described in steps S1061-S1066 in Embodiment 1. [0073] a determining module, configured to determine a volume of the sub-airbag according to the target curved surface.

[0074] It should be noted that the method for obtaining a target curved surface provided by the above embodiment is applicable to the environment adaptability, the system is simple to construct, the image processing is clear, and the cost is low. In addition to being used for airship sub-airbag monitoring, it can also be used to make dual-filler stereo imaging cameras and 3D reconstruction applications in darkroom environments. It can play the role of 3D reconstruction, stereo photography, target position monitoring, and stereo imaging reconstruction in these scenes.

[0075] It can be seen from the above that the foregoing device of the present application collects an image generated by the light being projected on the target curved surface by the acquiring module, and adopts the first acquiring module to take a plurality of target points from the bright stripes in the image, and adopts the second acquiring module. Obtain coordinate values of multiple target points, and obtain a target surface according to coordinate values of the plurality of target points, and determine a volume of the sub-airbag according to the target curved surface by the determining module. The above scheme has strong applicability, and even if the attitude of the light source and the camera changes greatly during use, calibration is not required, and the condition of the sub-balloon can be effectively monitored, and the accuracy of the monitoring can also meet the actual demand.

[0076] Optionally, according to the foregoing embodiment of the present application, the foregoing apparatus further includes: a generating module, configured to generate a bright stripe before acquiring an image generated by the ray being projected on the target curved surface, where the generating module includes

[0077] a setting unit, configured to set two preset light sources spaced apart by a preset distance in front of the target curved surface.

[0078] a modulating unit, configured to perform beam splitting modulation on the outgoing light of the two preset light sources, so that the outgoing light forms a bright stripe.

[0079] As can be seen from the above, the above-mentioned device of the present application sets two preset light sources spaced apart by a preset distance in front of the target curved surface by the setting unit, and splits and modulates the emitted light of the two preset light sources through the modulating unit to make the outgoing light. Form bright stripes. The above scheme forms an image for acquiring a target point by setting a light source in front of the target curved surface and splitting the light source.

[0080] Optionally, according to the foregoing embodiment of the present application, the first obtaining module 52 includes:

[0081] The first acquiring unit is configured to take an equally spaced line of the captured image, where the straight line intersects the bright stripe.

[0082] The first determining unit is configured to determine that an intersection of the straight line and the bright stripe is a plurality of target points.

[0083] Optionally, according to the foregoing embodiment of the present application, the second obtaining module 54 includes:

[0084] The second determining unit is configured to determine that the first light source 1 of the two preset light sources is an origin, and the connection between the first light source 1 and the second light source 2 is used as a first dimension, and is determined in a preset plane. Vertically perpendicular to the first dimension The direction is a second dimension, where the preset plane is a plane determined by the two preset light sources and a target point to be tested, and the target point to be tested corresponds to the second light source 2 a bright stripe, the target point to be measured corresponds to a bright stripe emitted by the second light source 2.

[0085] an establishing unit, configured to establish a coordinate system according to the first dimension and the second dimension;

[0086] a second acquiring unit, configured to select, in the coordinate system, a bright point among two bright stripes emitted by the first light source 1 adjacent to the two sides of the target point as the two first auxiliary points, and the second light source 2 and The intersection of the line connecting the target point and the two auxiliary lines is two second auxiliary points, wherein the two auxiliary lines are the connection between the first light source 1 and the first auxiliary point;

[0087] The third obtaining unit is configured to acquire a coordinate value of the target point according to a coordinate value of the second auxiliary point and a ratio of the distance of the first auxiliary point.

[0088] Optionally, according to the foregoing embodiment of the present application, the foregoing apparatus further includes:

[0089] a determining module, configured to determine, according to the target curved surface, a volume of the airship sub-airbag to which the target curved surface belongs;

[0090] a third obtaining module, configured to acquire a preset safety volume range;

[0091] The alarm module is configured to issue an alarm signal when the volume of the airship sub-airbag is not within a safe volume range.

Example 3

[0093] According to the method for acquiring a target curved surface provided by Embodiment 1, the present application further provides a system for acquiring a target curved surface, and FIG. 6 is a schematic structural diagram of a system for acquiring a target curved surface according to an embodiment of the present invention. Includes:

[0094] Two preset light sources 60 for emitting outgoing light.

[0095] Specifically, the target curved surface is a surface of a sub-balloon to be monitored, and in the above step, an image containing a plurality of bright stripes may be collected by a camera.

[0096] In an optional embodiment, the plurality of bright stripes may be obtained by splitting and modulating the outgoing light of the light source, and the light emitted by the light source is split and modulated to obtain bright and dark lines arranged at intervals. The bright and dark lines will avoid multiple bright stripes in the sub-balloon, and then use the camera to capture the image of the bright stripes.

[0097] The image capturing device 62 is configured to collect an image generated by the projected light being projected on the target curved surface, and the image includes: a bright stripe, and the target curved surface is a surface of the sub-balloon. [0098] Specifically, the target point is used to determine a target curved surface.

[0099] It should be noted here that the spacing of the bright stripes is different, and the density of the target points is not necessarily the same, so the monitoring accuracy of the same target surface is also affected by the spacing of the bright stripes and the density of the target points. Influence, in the case where there are many target points obtained, the target surface obtained by the monitoring is more accurate, but the calculation amount is larger due to more target points, and the target surface is monitored when the target points are small. Not precise enough, but the amount of data calculation is small, so you can get the target point according to the actual monitoring requirements.

[0100] The processor 64 is connected to the image capturing device, and is configured to take a plurality of target points from the bright stripes in the image; acquire coordinate values of the plurality of target points, and obtain a target surface according to the coordinate values of the plurality of target points; The volume of the sub-bag is determined according to the target surface.

[0101] In the above system, since the light source is a preset light source, the distance between the light source and the target curved surface is known.

After determining the target point, the coordinate value of each target point can be calculated according to the distance relationship between the light source and the target surface. In an optional embodiment, the similarity can be directly obtained according to the three-dimensional reconstruction method. High target surface.

[0102] It should be noted that the method for obtaining a target curved surface provided by the above embodiment is applicable to the environment adaptability, the system is simple to construct, the image processing is clear, and the cost is low. In addition to being used for airship sub-airbag monitoring, it can also be used to make dual-filler stereo imaging cameras and 3D reconstruction applications in darkroom environments. It can play the role of 3D reconstruction, stereo photography, target position monitoring, and stereo imaging reconstruction in these scenes.

[0103] It can be seen from the above that the above-mentioned system of the present application collects an image generated by the emitted light on the target curved surface through an image capturing device by using the emitted light emitted by the preset light source, and is connected to the image collecting device through the processor, from the image. The plurality of target points are taken on the bright stripe; the coordinate values of the plurality of target points are obtained, the target surface is obtained according to the coordinate values of the plurality of target points; and the volume of the sub-bag is determined according to the target surface. The above-mentioned scheme has strong applicability. Even if the attitude of the light source and the camera changes greatly during use, there is no need to calibrate, and the condition of the sub-balloon can be effectively monitored, and the accuracy of the monitoring can also meet the actual demand.

Optionally, according to the foregoing embodiment of the present application, the system further includes: the preset light source is two light sources disposed in front of the target curved surface and spaced apart from the target curved surface by a predetermined distance.

2 is a schematic diagram of an alternative light source and camera distribution, in an optional manner, in accordance with an embodiment of the present invention. In the case of the example shown in FIG. 2, the light source is a near-infrared light source placed in front of the target curved surface, and the emitted light of the two light sources has a certain repeated coverage on the target curved surface, and the camera for acquiring images is located at two. Between the near-infrared light sources, a plurality of bright stripes formed by the emitted light of the near-infrared light source.

[0106] It should be noted here that the distribution position of the camera and the light source is not necessarily limited to the above embodiment, and the distance between the two light sources and the disposal distance between the two light sources and the target curved surface are known. , you can get the coordinates of the target point.

[0107] The foregoing serial numbers of the embodiments of the present invention are merely for the description, and do not represent the advantages and disadvantages of the embodiments.

[0108] In the above-described embodiments of the present invention, the descriptions of the various embodiments are different, and the detailed description of the other embodiments may be referred to.

[0109] In the several embodiments provided by the present application, it should be understood that the disclosed technical content may be implemented in other manners. The device embodiments described above are only schematic. For example, the division of the unit may be a logical function division. The actual implementation may have another division manner. For example, multiple units or components may be combined or may be Integration into another system, or some features can be ignored, or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, unit or module, and may be electrical or otherwise.

[0110] The unit described as a separate component may or may not be physically distributed, and the component displayed as a unit may or may not be a physical unit, that is, may be located in one place, or may be distributed to multiple On the unit. Some or all of the units may be selected according to actual needs to achieve the objectives of the embodiment of the present embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0112] The integrated unit, if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may contribute to the prior art or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium. , A number of instructions are included to cause a computer device (which may be a personal computer, server or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: a USB flash drive, a read only memory (ROM, Read-Only)

Memory, Random Access Memory (RAM), removable hard disk, disk or optical disk, and other media that can store program code.

The above description is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can also make several improvements and retouchings without departing from the principles of the present invention. It should be considered as the scope of protection of the present invention.

Claims

Claim

[Claim 1] A method for acquiring a target curved surface, comprising:

Collecting an image generated by the light being projected on the target surface, the image comprising: a plurality of bright stripes, wherein the light is an outgoing light emitted by two preset light sources, respectively, from the brightness of the two preset light sources Stripe spacing;

Taking a plurality of target points from the bright stripes in the image;

Obtaining coordinate values of the plurality of target points, and acquiring the target curved surface according to coordinate values of the plurality of target points.

[Claim 2] The method according to claim 1, wherein before the image generated by the ray is projected on the target curved surface, the method further comprises: generating the bright stripe, wherein The steps of bright stripes include:

Two preset light sources spaced apart by a predetermined distance are disposed in front of the target curved surface; and the emitted light of the two preset light sources is split-modulated, so that the emergent light forms the plurality of bright stripes.

[Claim 3] The method according to claim 2, wherein: taking a plurality of target points from the bright stripes in the image comprises:

Taking the acquired image as an equidistant straight line, wherein the straight line intersects the plurality of bright stripes;

Determining an intersection of the straight line and the bright stripe as the plurality of target points.

[Claim 4] The method according to claim 3, wherein obtaining the coordinate values of the plurality of target points comprises:

The two preset light sources are a first light source and a second light source, and the first light source of the two preset light sources is determined as an origin, and the connection between the first light source and the second light source is a first dimension, and The direction perpendicular to the first dimension on the preset plane is a second dimension, where the preset plane is a plane determined by the two preset light sources and a target point to be tested, and the to-be-tested The target point corresponds to a bright stripe emitted by the second light source; a coordinate system is established according to the first dimension and the second dimension; and the second side adjacent to the target point is selected in the coordinate system by the first Two light sources The bright spot in the bright stripe is the two first auxiliary points, and the intersection of the line connecting the second source and the target point and the two auxiliary lines is two second auxiliary points, wherein the two auxiliary lines are a line connecting the first light source and the two first auxiliary points; according to coordinate values of the two second auxiliary points and a distance between the two first auxiliary points and the target point to be tested The proportional relationship obtains the coordinate value of the target point.

[Claim 5] The method according to claim 4, wherein: according to the coordinate values of the two second auxiliary points and the distance between the two first auxiliary points and the target point to be tested a proportional relationship, obtaining coordinate values of the target point, including:

And obtaining a ratio value of the distance between the two first auxiliary points to the target point to be tested according to the measurement of the image;

And a ratio value of a distance between the two first auxiliary points to the target point to be tested is a ratio of distances between the two second auxiliary points to the target point to be tested;

And obtaining coordinate values of the target point to be tested according to a coordinate value of the coordinate values of the two second auxiliary points and a distance between the two second auxiliary points and the target point.

[Claim 6] The method according to any one of claims 1 to 5, wherein the target curved surface is a surface of a sub-airbag of an airship.

[Claim 7] The method according to claim 6, wherein after acquiring the coordinate values of the plurality of target points and acquiring the target curved surface according to the coordinate values of the plurality of target points, the The method also includes:

Determining, according to the target curved surface, a volume of the airship sub-airbag to which the target curved surface belongs; acquiring a preset safe volume range;

An alarm signal is issued if the volume of the airship sub-airbag is not within the safe volume range.

[Claim 8] The method according to claim 7, wherein the two preset light sources and the means for acquiring images are disposed in the airship sub-airbag, and the determining is performed according to the target curved surface. The method for the volume of the airship sub-airbag to which the target surface belongs includes: integrating the curved surface using a distance from the target point to the light source on the curved surface to obtain an internal volume of the airship sub-airbag. A device for acquiring a target curved surface, comprising:

An acquisition module, configured to collect an image generated by the light being projected on the target surface, the image comprising: a plurality of bright stripes, wherein the light is an outgoing light emitted by two preset light sources, respectively, from the two The light strips of the preset light source are arranged at intervals;

a first acquiring module, configured to take a plurality of target points from the bright stripe in the image; a second acquiring module, configured to acquire coordinate values of the plurality of target points, and according to coordinates of the multiple target points The value gets the target surface.

The device according to claim 9, wherein the device further comprises: a generating module, configured to generate the bright stripe before acquiring an image generated by the ray being projected on the target curved surface, wherein the generating Modules include:

a setting unit, configured to set two preset light sources spaced apart by a preset distance in front of the target curved surface;

And a modulating unit, configured to perform beam splitting modulation on the outgoing rays of the two preset light sources, so that the emergent light forms the bright stripes.

The device according to claim 10, wherein the first obtaining module comprises: a first acquiring unit, configured to take an equidistant straight line to the collected image, wherein the straight line and the plurality of bright lines Stripes intersect;

And a first determining unit, configured to determine that an intersection of the straight line and the bright stripe is the plurality of target points.

The device according to claim 11, wherein the two preset light sources are a first light source and a second light source, and the second acquiring module comprises:

a second determining unit, configured to determine that the first light source of the two preset light sources is an origin, and the connection between the first light source and the second light source is used as a first dimension, and is determined to be on the preset plane and the first The direction perpendicular to the dimension is a second dimension, where the preset plane is a plane determined by the two preset light sources and a target point to be tested, and the target point to be tested corresponds to the second light source a bright stripe emitted, the target point to be tested corresponds to a bright stripe emitted by the second light source;

a establishing unit, configured to establish a coordinate system according to the first dimension and the second dimension; a second acquiring unit, configured to select, in the coordinate system, a bright spot among the two bright stripes emitted by the first light source adjacent to the two sides of the target point to be tested as the two first auxiliary points, where The intersection of the line connecting the second light source and the target point and the two auxiliary lines is two second auxiliary points, wherein the two auxiliary lines are the connection between the first light source and the first auxiliary point a third acquiring unit, configured to acquire a coordinate value of the target point according to a coordinate value of the second auxiliary point and a ratio of a distance between the first auxiliary point and the target point to be tested.

[Claim 13] The device according to any one of claims 9 to 12, wherein the device further comprises:

a determining module, configured to determine, according to the target curved surface, a volume of an airbag sub airbag to which the target surface belongs;

And a third obtaining module, configured to obtain a preset safety volume range; and an alarm module, configured to send an alarm signal if the volume of the airship sub-airbag is not within the safe volume range.

[Claim 14] A system for acquiring a target curved surface, comprising:

Two preset light sources for emitting outgoing light;

An image capturing device, configured to collect an image generated by the emitted light being projected on a target curved surface, the image comprising: a plurality of bright stripes, wherein the target curved surface is a surface of an airship sub-airbag;

a processor, connected to the image capturing device, configured to take a plurality of target points from the bright stripe in the image; acquire coordinate values of the plurality of target points, and obtain according to coordinate values of the plurality of target points Determining a volume of the airship sub-airbag according to the target curved surface;

The system according to claim 14, wherein the system further comprises: the two preset light sources are disposed in front of the target curved surface and spaced apart from the target curved surface by a preset distance.