WO2018113257A1 - Procédé, dispositif et système d'acquisition de surface incurvée cible - Google Patents

Procédé, dispositif et système d'acquisition de surface incurvée cible Download PDF

Info

Publication number
WO2018113257A1
WO2018113257A1 PCT/CN2017/091951 CN2017091951W WO2018113257A1 WO 2018113257 A1 WO2018113257 A1 WO 2018113257A1 CN 2017091951 W CN2017091951 W CN 2017091951W WO 2018113257 A1 WO2018113257 A1 WO 2018113257A1
Authority
WO
WIPO (PCT)
Prior art keywords
target
curved surface
light source
points
preset
Prior art date
Application number
PCT/CN2017/091951
Other languages
English (en)
Chinese (zh)
Inventor
刘若鹏
栾琳
许发国
Original Assignee
东莞前沿技术研究院
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 东莞前沿技术研究院 filed Critical 东莞前沿技术研究院
Publication of WO2018113257A1 publication Critical patent/WO2018113257A1/fr

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T15/00—3D [Three Dimensional] image rendering
    • G06T15/005—General purpose rendering architectures
    • 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
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T15/00—3D [Three Dimensional] image rendering
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/30—Polynomial surface description
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2215/00—Indexing scheme for image rendering
    • G06T2215/06—Curved planar reformation of 3D line structures

Definitions

  • the present invention relates to the field of airships, and in particular to a method, device and system for acquiring a target curved surface
  • 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.
  • 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.
  • 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.
  • an effective solution has not been proposed due to the high accuracy of the binocular camera, resulting in low accuracy.
  • 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.
  • a method for acquiring a target surface 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.
  • an apparatus for acquiring a target curved surface 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.
  • a system for acquiring a target curved surface 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.
  • 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.
  • FIG. 1 is a flow chart of a method of acquiring a target curved surface according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram showing an alternative preset light source and a camera according to an embodiment of the invention
  • FIG. 3 is a schematic diagram of an image captured by an optional camera according to an embodiment of the invention.
  • FIG. 4 is a schematic diagram of an optional acquisition target point coordinate value according to an embodiment of the invention.
  • FIG. 5 is a schematic structural diagram of an apparatus for acquiring a target curved surface according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a system for acquiring a target curved surface according to 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.
  • FIG. 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:
  • 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.
  • 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.
  • 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.
  • Step S104 taking a plurality of target points from the bright stripes in the image.
  • the above target point is used to determine a target curved surface.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the method 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:
  • Step S112 two preset light sources spaced apart by a preset distance are disposed in front of the target curved surface.
  • Step S114 splitting and modulating the outgoing light of the two preset light sources to form a plurality of bright stripes.
  • the preset light source may be a near-infrared light source, and a plurality of bright stripes are formed by splitting modulation.
  • the preset light source is a near-infrared light source.
  • 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
  • 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
  • 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.
  • the bright stripes emitted by the first light source 1 and the second light source 2 are spaced apart.
  • 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.
  • the diffractive grating may be utilized to form the exiting ray into a plurality of bright stripes.
  • 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.
  • taking multiple target points from the bright stripes in the image includes:
  • Step S1041 Take an equally spaced line of the acquired image, where the straight line intersects the plurality of bright stripes.
  • 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.
  • 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.
  • 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.
  • Step S1043 Determine an intersection of the straight line and the plurality of bright stripes as a plurality of target points.
  • intersections which are the target points.
  • the above steps of the present application acquire target points by taking equally spaced horizontal lines on the acquired images.
  • 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:
  • 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.
  • Step S1062 Establish a coordinate system according to the first dimension and the second dimension.
  • 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
  • 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.
  • Step S1063 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.
  • Point A and Point B are points on the nth and n+1th bright stripes emitted by the first light source 1
  • point C is a point on the mth bright stripe emitted by the second light source 2
  • n and m are known natural numbers that can be measured, that is, the angles ⁇ , ⁇ , and ⁇ of the auxiliary lines L2, L3, and L4 with the x-axis are measurable. That is, the angles ⁇ , ⁇ , ⁇ 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 0 ⁇ is also known.
  • the coordinate value (xl, yl) of the point D can be calculated.
  • the coordinate value of the point E can be calculated (x2 , y2).
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the method further includes:
  • Step S110 Determine a volume of the airship sub-airbag to which the target curved surface belongs according to the target curved surface.
  • the volume of the airship sub-airbag is used to characterize the inflation of the sub-bag, so that the fly can be obtained.
  • Step S112 Obtain a preset safety volume range.
  • the preset safety volume range may include a maximum volume and a minimum volume.
  • Step S114 when the volume of the airship sub-airbag is not in the safe volume range, an alarm signal is issued.
  • 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.
  • 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.
  • the airship main airbag may be considered to be too large, possibly due to excessive gas temperature in the main airbag;
  • the airbag airbag may be considered to be too small, possibly due to the air temperature of the airbag being too low.
  • 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.
  • two preset light sources and devices for acquiring images are disposed in the airbag sub-airbag
  • 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.
  • 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
  • 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
  • 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:
  • 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.
  • 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.
  • 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.
  • the target point is used to determine a target curved surface.
  • 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.
  • the first obtaining module 52 is configured to take a plurality of target points from the bright stripes in the image.
  • 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.
  • 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.
  • a determining module configured to determine a volume of the sub-airbag according to the target curved surface.
  • 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.
  • 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.
  • 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.
  • 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
  • a setting unit configured to set two preset light sources spaced apart by a preset distance in front of the target curved surface.
  • 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.
  • 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.
  • 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.
  • the first obtaining module 52 includes:
  • the first acquiring unit is configured to take an equally spaced line of the captured image, where the straight line intersects the bright stripe.
  • 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.
  • the second obtaining module 54 includes:
  • 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.
  • an 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 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;
  • 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.
  • the foregoing apparatus further includes:
  • 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;
  • a third obtaining module configured to acquire a preset safety volume range
  • 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.
  • 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:
  • Two preset light sources 60 for emitting outgoing light are provided.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the light source is a preset light source
  • the distance between the light source and the target curved surface is known.
  • the coordinate value of each target point can be calculated according to the distance relationship between the light source and the target surface.
  • the similarity can be directly obtained according to the three-dimensional reconstruction method. High target surface.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the disclosed technical content may be implemented in other manners.
  • the device embodiments described above are only schematic.
  • the division of the unit may be a logical function division.
  • the actual implementation may have another division manner.
  • multiple units or components may be combined or may be Integration into another system, or some features can be ignored, or not executed.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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)
  • RAM Random Access Memory
  • removable hard disk disk or optical disk, and other media that can store program code.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Graphics (AREA)
  • Theoretical Computer Science (AREA)
  • Algebra (AREA)
  • Mathematical Analysis (AREA)
  • Mathematical Optimization (AREA)
  • Mathematical Physics (AREA)
  • Pure & Applied Mathematics (AREA)
  • Geometry (AREA)
  • Software Systems (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

L'invention concerne un procédé, un dispositif et un système d'acquisition de surface incurvée cible. Le procédé consiste à : collecter une image générée par un rayon lumineux projeté sur une surface incurvée cible, l'image comprenant : une pluralité de bandes brillantes, le rayon lumineux étant un rayon lumineux émergent émis par deux sources de lumière prédéfinies, et les bandes brillantes issues respectivement des deux sources de lumière prédéfinies étant agencées à des intervalles; obtenir une pluralité de points cibles à partir des bandes brillantes dans l'image; acquérir une valeur de coordonnées de la pluralité de points cibles et, en fonction de la valeur de coordonnées de la pluralité de points cibles, acquérir la surface incurvée cible; et, en fonction de la surface incurvée cible, déterminer le volume d'un ballonnet. L'invention résout le problème technique de l'état de la technique selon lequel, lorsqu'une caméra binoculaire est utilisée pour surveiller l'état d'un ballonnet de dirigeable, une difficulté d'enregistrement élevée de la caméra binoculaire entraîne une faible précision.
PCT/CN2017/091951 2016-12-20 2017-07-06 Procédé, dispositif et système d'acquisition de surface incurvée cible WO2018113257A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201611187536.4 2016-12-20
CN201611187536.4A CN108205817B (zh) 2016-12-20 2016-12-20 获取目标曲面的方法、装置和系统

Publications (1)

Publication Number Publication Date
WO2018113257A1 true WO2018113257A1 (fr) 2018-06-28

Family

ID=62604309

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/091951 WO2018113257A1 (fr) 2016-12-20 2017-07-06 Procédé, dispositif et système d'acquisition de surface incurvée cible

Country Status (2)

Country Link
CN (1) CN108205817B (fr)
WO (1) WO2018113257A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5175601A (en) * 1991-10-15 1992-12-29 Electro-Optical Information Systems High-speed 3-D surface measurement surface inspection and reverse-CAD system
US6751344B1 (en) * 1999-05-28 2004-06-15 Champion Orthotic Investments, Inc. Enhanced projector system for machine vision
WO2013091016A1 (fr) * 2011-12-23 2013-06-27 Canon Kabushiki Kaisha Système lumineux structuré pour une acquisition géométrique robuste
CN104034261A (zh) * 2014-06-10 2014-09-10 深圳先进技术研究院 一种曲面法向测量装置和曲面法向测量方法
CN105674909A (zh) * 2015-12-31 2016-06-15 天津市兆瑞测控技术有限公司 一种简捷的高精度二维轮廓测量方法

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20070066541A (ko) * 2005-12-22 2007-06-27 재단법인 포항산업과학연구원 디지털 영상 처리를 통한 구조물의 3 차원 변위 측정 장치및 방법
CN101561259A (zh) * 2009-04-21 2009-10-21 天津大学 相位可控多频光纤干涉条纹投射装置
CN103018740B (zh) * 2012-07-19 2014-07-16 电子科技大学 一种基于曲面投影的InSAR成像方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5175601A (en) * 1991-10-15 1992-12-29 Electro-Optical Information Systems High-speed 3-D surface measurement surface inspection and reverse-CAD system
US6751344B1 (en) * 1999-05-28 2004-06-15 Champion Orthotic Investments, Inc. Enhanced projector system for machine vision
WO2013091016A1 (fr) * 2011-12-23 2013-06-27 Canon Kabushiki Kaisha Système lumineux structuré pour une acquisition géométrique robuste
CN104034261A (zh) * 2014-06-10 2014-09-10 深圳先进技术研究院 一种曲面法向测量装置和曲面法向测量方法
CN105674909A (zh) * 2015-12-31 2016-06-15 天津市兆瑞测控技术有限公司 一种简捷的高精度二维轮廓测量方法

Also Published As

Publication number Publication date
CN108205817A (zh) 2018-06-26
CN108205817B (zh) 2021-11-09

Similar Documents

Publication Publication Date Title
US10401143B2 (en) Method for optically measuring three-dimensional coordinates and controlling a three-dimensional measuring device
US10088296B2 (en) Method for optically measuring three-dimensional coordinates and calibration of a three-dimensional measuring device
CN104173054B (zh) 基于双目视觉技术的人体身高测量方法及其装置
EP1277026B1 (fr) Systeme de capture de mouvement, de numerisation tridimensionnelle couleur et de stereovision
EP1792282B1 (fr) Procédé d'imagerie tridimensionnelle
CN106683038B (zh) 一种生成火情态势图的方法及装置
WO2018227576A1 (fr) Procédé et système de détection de forme de sol, procédé d'atterrissage de drone et drone
US11022705B2 (en) System and method for the volumetric and isotopic identification of radiation distribution in radioactive surroundings
CN106683039B (zh) 一种生成火情态势图的系统
US9857232B2 (en) Device for non-contact temperature measurement and temperature measurement method
US20200110962A1 (en) Optics based multi-dimensional target and multiple object detection and tracking method
WO2016040271A1 (fr) Procédé pour mesurer optiquement des coordonnées tridimensionnelles et commander un dispositif de mesures tridimensionnelles
CN115597551A (zh) 一种手持激光辅助双目扫描装置及方法
JP2019045299A (ja) ３次元情報取得装置
CN110702016A (zh) 输电线路覆冰测量系统及方法
WO2018113257A1 (fr) Procédé, dispositif et système d'acquisition de surface incurvée cible
Rossi et al. Measurement of the geometric characteristics of a fire front by stereovision techniques on field experiments
CN204944449U (zh) 深度数据测量系统
JPH05135155A (ja) 連続シルエツト画像による３次元モデル構成装置
JP2004295813A (ja) ３次元人物照合装置
CN106197660B (zh) 公路隧道照明评估装置及动态评估方法
US11195290B2 (en) Apparatus and method for encoding in structured depth camera system
CN105737803B (zh) 航空双面阵立体测绘系统
CN105571496B (zh) 一种带电检测电气设备外绝缘配置参数测量方法
JP7028814B2 (ja) 外形認識装置、外形認識システム及び外形認識方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17884750

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17884750

Country of ref document: EP

Kind code of ref document: A1