CN105115560B - A kind of non-contact measurement method of cabin volume of compartment - Google Patents
A kind of non-contact measurement method of cabin volume of compartment Download PDFInfo
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Abstract
The present invention provides the non-contact measurement methods and system of a kind of cabin volume of compartment.This method scans measurand, and then process scanned images using linear array CCD camera and line-structured light cooperation, extracts image characteristic point.The calculation method that characteristic point is released based on optical triangulation theory, is calculated the three-dimensional coordinate of characteristic point and carries out three-dimensional modeling, and then analysis meter calculates the information such as cabin volume of compartment.Above-mentioned measurement method and system can be realized to the quick, accurate of cabin volume of compartment, non-cpntact measurement, improve measurement efficiency, improve the working environment of worker, while avoid the problem of object matching difficulty in Binocular vision photogrammetry method.
Description
Technical field
It is particularly a kind of based on linear array CCD camera the present invention relates to a kind of non-contact measurement method of cabin volume of compartment
With the cabin volume of compartment of line-structured light projector fast and accurately non-contact measurement method.
Background technique
Capacity refers to the quantity for the unit object that object or space can accommodate.The measurement of cabin volume of compartment is exactly to pass through one
Fixed method and measuring device determines that the capacity of cabin, i.e. cabin can accommodate the quantity of object.
For in the world/domestic trade contacts of the liquid goods in bulk of Shipping, the identification of liquid goods quantity is a relationship
To the major issue of various aspects interests.For military naval vessel, accurate fuel oil, fresh water reserve message and its pressure for influencing naval vessel
Carrying sink-float situation is the important information for determining naval vessel airworthiness.Therefore, from the point of view of all angles, the accurate metering of cabin capacity is all
It is a particularly significant and significant job.Common contact measurement method, which has, calculates volume of compartment, according to design drawing with stream
Meter adds up volume of compartment, ruler away from measurement etc..But these contact measurement methods are there are many problems, such as measurement accuracy it is not high,
Measurement point is few, working environment is severe, measurement efficiency is low, time of measuring is long etc..
From the point of view of from the current research and development the case where, the contactless high-precision measurement of cabin volume of compartment is that following development becomes
Gesture.Non-cpntact measurement has many advantages, such as that measurement cost is low, measurement period is short, measurement accuracy is high.The non-contact survey studied both at home and abroad
Amount method has the methods of laser ranging method, binocular vision method.Currently, usually used volume of compartment measurement method is that geometry is surveyed both at home and abroad
It is each to reuse total station acquisition every certain level angle or apart from an index point is laid that is, on bulkhead for amount method
The accurate coordinate of index point on section realizes the segmentation precise measurement to cabin, and the data obtained is recycled to establish cabin mathematical modulo
Type calculates cabin volume.Relative to the method for adding up volume of compartment with flowmeter, this method does not need the injection of auxiliary liquid, only
It needs total station to measure characteristic point, highly shortened time of measuring, while avoiding liquid attachment phenomenon.Meanwhile it is logical
The three-dimensional coordinate that total station obtains target point is crossed, the accuracy of data can be greatlyd improve.But this method measurement point compared with
It is few, and be manual measurement and automation is not implemented.Institute of Surveying and Mapping, Wuhan University has started cabin cabin on the basis of the method
The research for holding automatic measurement, devises a kind of cabin automatic measurement system based on total station.This method is with traditional based on complete
Stand instrument capacity measuring method basic principle it is the same, simply by the laptop control equipment such as total station, realize from
Dynamicization.Relative to traditional capacity measuring method, this method reduces the labor intensity of operating personnel significantly, improves work
Precision and measurement efficiency.
Visible detection method is the 3 d shape that cabin is obtained using vision system, then calculates the volume of cabin.Its base
This method is divided into passive vision mensuration and active vision mensuration.Passive vision mensuration refers in natural lighting situation
Under, data needed for being obtained using vision technique.According to the difference for using video camera number, can be divided into monocular method, binocular method and
More mesh methods.Monocular vision detection method structure is simple, calibration is also relatively easy, while it is tired to avoid the matching of binocular vision neutral body
Difficult problem, but because the field range of measurement is small, and resolving three-dimensional information is more difficult, so applying in actual measurement
It is less.Binocular vision detection Method And Principle is intuitive, high-efficient, cost is relatively low, measurement field range is big, therefore people are to this method
Research it is more, application is also relatively broad, but this method has that Stereo matching is difficult always.Three mesh methods are double
It is further added by a camera on the basis of mesh method to increase geometry constraint conditions, and then reduces asking for binocular solid matching difficulty
Topic, but the complexity of this method specific implementation structure also results in the problems such as measurement error becomes larger, measurement efficiency reduces, so
In practice using less.
Measuring system of the invention is single vision measurement system, which has used new scaling method, is solved
The difficult problem of live big ken calibration, while new extraterrestrial target point calculation method is used, it can rapidly calculate target
Coordinate of the point in world coordinate system.Method structure of the invention is simple, calibration is also relatively simple, while avoiding binocular vision inspection
The difficult problem of survey method neutral body matching, while having many advantages, such as that measurement accuracy is high, measuring speed is fast.
Summary of the invention
For the non-cpntact measurement problem of cabin capacity, the present invention provides one kind to be based on linear array CCD camera and cable architecture
The non-contact measurement method of the cabin volume of compartment of light projector, to solve existing measurement method, there are time of measuring length, measurement accuracy
Not high, the problems such as working environment is poor.
The technical solution adopted by the present invention is as follows.
A kind of non-contact measurement system of cabin volume of compartment, comprising:
Linear array CCD camera is mounted on cradle head of two degrees of freedom；
Line-structured light projector is mounted on single-degree-of-freedom holder；
Two holders are according to measurand actual conditions, and separated by a distance, distance between the two is exactly so-called baseline
Distance；The cradle head of two degrees of freedom and the single-degree-of-freedom holder are controlled by FPGA, to realize synchronous scanning and continuously adopt in real time
Collection；
The measuring system further includes the analytical equipment with optical triangulation principle；
The optical center of the linear array CCD camera, the optical center of the line-structured light projector and camera fields of view and line-structured light
Intersection point constitute triangle；It, can be tested by the line-structured light projector to measurand surface incident line structure light
Subject surface forms striation 3-D image；
The analytical equipment can utilize the baseline between the line-structured light projector and the linear array CCD camera
Distance, and it is based on optical triangulation theory, each point in measurand can be obtained according to the calculation method of extraterrestrial target point
3 d space coordinate, and then three-dimensional reconstruction measurand form；The analytical equipment can be analyzed according to the measurand of reconstruction
Cabin volume of compartment information is calculated.
A kind of cabin volume of compartment non-contact measurement method using measuring system described in above technical scheme, the measurement method
Measuring system is demarcated first；Measurand surface is scanned by linear array CCD camera and line-structured light projector cooperation, into
And obtain the image of measurand；The pixel coordinate of characteristic point is obtained by image processing techniques；It is pushed away by optical triangulation theory
The calculation method of characteristic point out, and then the three-dimensional coordinate of characteristic point is calculated；Three-dimensional modeling is carried out to cabin, analysis meter calculates
The information such as cabin volume of compartment, and then generate correlation graph.Specific step is as follows for this method:
One, the line-structured light projector is placed on rotatable single-degree-of-freedom holder, the CCD camera is placed
It is rotatable can be on the cradle head of two degrees of freedom of pitching, and maintain a certain distance.We use line-structured light projector to quilt
Object incident line structure light is surveyed, using line-scan digital camera as imaging sensor.The cradle head of two degrees of freedom and the single-degree-of-freedom
Holder is controlled by FPGA, to realize synchronous scanning and continuous acquisition in real time.
Two, measuring system is demarcated, establishes world coordinate system Ow-XwYwZw, and determine the parameter of linear array CCD camera
With the parameter of line structure optical sensor.The calibration of measuring system the following steps are included:
1) world coordinate system O is establishedw-XwYwZw.World coordinate system XwThe positive direction of axis and the line-structured light optical center to institute
The line direction for stating linear array CCD camera optical center is the same direction, the world coordinate system ZwThe positive direction of axis is perpendicular to horizontal plane
Upwards, YwThe positive direction of axis is obtained according to the right-hand rule.
2) method according to two, the parameter of the linear array CCD camera include: camera focus f, image principal point u0, phase
Machine optical center coordinate Oc=(Xoc Yoc Zoc) and camera optical axis vectorThe line structure optical sensor
Parameter includes line-structured light optical center coordinate O1=(X1 Y1 Z1) and the initial level angle θ of optical plane.It is flat by line-structured light light
Two borderline four points of face determines the initial horizontal angle in position and optical plane of the line-structured light optical center in world coordinate system
Degree.
Three, measurand is scanned, the pixel coordinate of characteristic point is obtained by image processing techniques.The cable architecture
Light projector projects vertical line-structured light to measurand and forms striation.Line-scan digital camera one angle of each pitching, all can be with
Line-structured light striation intersects at a point, and acquires the point, until the striation in measurand is all acquired.Then, with line
The connected holder of structured light projector rotates an angle, repeats the above process, to complete the scanning to entire three-dimension curved surface.
The image that linear array CCD camera obtains only has one-row pixels, and the form of cross spider is constituted with line-structured light.Pass through
The algorithm of image processing techniques extracts the center of optical strip image, so that it may obtain the pixel coordinate of characteristic point.To on three-dimension curved surface
All characteristic points carry out such processing, to obtain the pixel coordinate of all characteristic points of three-dimension curved surface.
Four, the calculation method of characteristic point is released by optical triangulation theory, and according to the picture of the characteristic point acquired
Plain coordinate, linear array CCD camera parameter, line-structured light parameter and characteristic point rotation angle parameter calculate the space three of characteristic point
Tie up coordinate.
Since in this measuring system, line-scan digital camera is by pitching push-scanning image, so optical axis exists after camera rotation
Projection in xoy plane is constant.The expression formula for calculating the 3 d space coordinate is as follows:
Wherein, OcAnd O1Respectively line-scan digital camera optical center and line-structured light optical center；(Xoc Yoc Zoc) indicate OcThe world sit
Mark；β indicates line-structured light optical center O1To the vector of characteristic point PWith basic lineal vectorAngle；β0Indicate line-structured light
The level angle of optical plane；α3For the line vector of picture point and object pointWith basic lineal vectorAngle；When being initial
Camera optical axis vectorWith the angle of horizontal plane；δ is the angle step of line-scan digital camera pitching；α1For object point and picture point line PP'
And the angle that optical axis is formed in the projection of XOY plane；ψ is the imaging plane of line-scan digital camera and the angle of XOY plane.
Five, by the three-dimensional coordinate of acquired a large amount of characteristic points, three-dimensional reconstruction is carried out to cabin, analysis meter calculates cabin
The information such as volume of compartment, and then generate correlation graph.
The beneficial effects of the present invention are: selecting high-resolution linear array CCD camera, line array CCD is controlled using holder respectively
Camera and line-structured light projector, the two cooperation scanning measurand, only shoot a luminous point every time, improve point of system
Resolution.Linear array CCD camera and line-structured light projector are separately mounted on two holders, can increase the measurement model of measuring system
It encloses.Meanwhile holder is controlled by FPGA, it can be realized the accurate fit of linear array CCD camera and line-structured light projector, Neng Goutong
Step scanning and continuous acquisition data.The measuring system can be avoided that object matching in Binocular vision photogrammetry method is difficult to ask
Topic.By the tight fit of high speed linear array CCD video camera and line-structured light projector, acquires image and resolving obtains largely quilt
The 3 d space coordinate of object is surveyed, then by three-dimensional reconstruction, can be realized quick, accurate, the non-contact survey of cabin volume of compartment
Amount.
Detailed description of the invention
Fig. 1 is cabin volume of compartment rapid survey platform schematic diagram；
Fig. 2 is the X of point P in measurandpCoordinate and YpThe resolving schematic diagram of coordinate
Fig. 3 is the Z of point P in measurandpThe resolving schematic diagram of coordinate
The meaning of each label is as follows in figure:
In Fig. 1: 1-Two-degree-of-freedohigh-precision high-precision holder；2-single-degree-of-freedom high-precision holders；
3-line-structured light projectors；The field range of 4-line-structured lights；5-line-structured lights and the linear array CCD camera visual field
Intersection point, i.e. Image Acquisition point；After the 6-angles of linear array CCD camera pitching one, the intersection point of line-structured light and camera fields of view；7—
Tested three-dimension curved surface；The field range of 8-linear array CCD cameras；9-linear array CCD cameras.
In Fig. 2: OcAnd OlRespectively linear array CCD camera optical center and line-structured light optical center, P are certain point in space, and P ' is sky
Between in imaging point of the point P in linear array CCD camera, u0 is image principal point；α1For optical axis vectorWith object point and picture point lineAngle, α2For basic lineal vectorWith optical axis vectorAngle, α3For basic lineal vectorConnect with object point picture point
Line vectorAngle, β be structure light be concerned about OlTo the vector of space midpoint PWith basic lineal vectorAngle, β1
For basic lineal vectorWith the angle of X-axis positive direction, β0For the level angle of the corresponding structure light optical plane of detected space point P,
γ1For Δ OcOlThe apex angle of P, γ2For structure light light OlThe angle of P and Y-axis, γ3For the line PP ' and Y-axis of object point and picture point
Angle.
In Fig. 3: OcFor linear array CCD camera optical center, P is certain point in space, and M is the point P in space in XOY plane
Subpoint, N be P toThe intersection point of vertical line formation is done, Ν ' is subpoint of the N in XOY plane；For linear array CCD camera
Optical axis vector；Linear array CCD camera optical axis vector when being initialWith the angle of horizontal plane, α1For object point and picture point line PP'
And the angle that optical axis is formed in the projection of XOY plane, ψ are the imaging plane of camera and the angle of XOY plane.
Specific embodiment
Explain specific implementation process of the invention in detail with reference to the accompanying drawings of the specification:
Linear array CCD camera 9 is mounted on tool there are two freedom degrees as shown in Figure 1: for a kind of cabin volume of compartment rapid survey platform
On holder 1, line-structured light projector 3 is mounted on the holder 2 with one degree of freedom.Two holders are according to measurand reality
Situation, separated by a distance, distance between the two is exactly so-called parallax range.Parallax range will be according to the practical feelings of measurand
Condition carries out size design, and the size of distance has certain influence to measurement accuracy.
The approach application optical triangulation principle of the measuring system, the optical center of linear array CCD camera 9, line-structured light projection
The intersection point 5 of the optical center of device 3 and the line-scan digital camera visual field and line-structured light constitutes triangle.By line-structured light projector 3 to quilt
Subject surface incident line structure light is surveyed, forms striation 3-D image on measurand surface.Utilize line-structured light projector 3 and line
Parallax range between array CCD camera 9, and it is based on optical triangulation theory, according to the calculation method of extraterrestrial target point
Obtain the 3 d space coordinate of numerous point in measurand, and then three-dimensional reconstruction measurand form.Finally according to reconstruction
Measurand, analytical calculation obtains the information such as cabin volume of compartment, and then generates correlation graph.
The course of work of entire measuring system device includes three parts: the calibration of measuring system, scanning survey and being solved
It calculates spatial point coordinate, three-dimensional reconstruction and calculates the information such as volume of compartment.
One, the calibration of measuring system
The calibration of measuring system is exactly that the three dimensional space coordinate solution for unified references object, for subsequent measurement target is considered
Prepare.Measuring system calibration includes the calibration of linear array CCD camera parameter and the calibration of line-structured light parameter.Calibration process is as follows:
1. establishing world coordinate system Ow-XwYwZw
World coordinate system XwThe positive direction of axis and the line-structured light optical center to the line side of the linear array CCD camera optical center
To for the same direction, the world coordinate system ZwThe positive direction of axis faces upward perpendicular to level, world coordinate system YwAxis positive direction by
World coordinate system XwAxis and ZwAxis is obtained according to the right-hand rule.
2. determining the inside and outside parameter of linear array CCD camera
By the calibration to linear array CCD camera inside and outside parameter, camera photocentre O is obtainedcCoordinate in world coordinate system is
(Xoc Yoc Zoc), camera optical axis vectorVector under world coordinate system is (l m n), the focal length f and image principal point of camera
u0。
3. determining line-structured light optical center coordinate and optical plane initial level angle
Pass through two borderline four points of calibration line-structured light optical center O of line-structured light optical plane1=(X1 Y1 Z1) sat in the world
The initial level angle, θ of coordinate and line-structured light optical plane in mark system.
Two, scanning survey and spatial point coordinate is resolved
Scanning survey and resolve spatial point coordinate be exactly by scanning obtain the general image of measurand, then pass through
Image processing techniques obtains the pixel coordinate of all characteristic points in measurand, then calculates tested pair by optical triangulation theory
As the space coordinate of upper each scanning feature point.
Scanning survey and the specific steps for resolving spatial point coordinate:
Step 1: line-structured light projector projects vertical line-structured light to measurand surface and forms striation, camera fields of view
A point is mutually given with line-structured light striation, captures the image of the point.
Step 2: linear array CCD camera one angle delta γ of each pitching, camera fields of view can all intersect with line-structured light striation
In a point, and acquire the point.After having acquired the last one intersection point of camera fields of view and striation, camera returns to initially camera
Position is ready for scanning next time.
Step 3: holder drives line-structured light projector to rotate an angle delta β, it is formed separately on tested cabin volume of compartment surface
An outer striation；
Step 4: camera starts to acquire new striation, repeats step 2；
Step 5: repeating step 3 and step 4.It is scanned by the cooperation of linear array CCD camera and structured light projector, completion pair
The scanning on entire cabin volume of compartment surface
Step 6: the image of scanning being handled, the three dimensional space coordinate of characteristic point is resolved.
Step 6 includes following procedure:
(1) extraction of image characteristic point
The image that linear array CCD camera is shot under linear array mode only has one-row pixels, and is formed with line-structured light
Intersect.The optical losses on image are extracted by image processing algorithm, the position of optical losses is exactly required characteristic point with picture
Element is the position in the image coordinate system of unit.
(2) three dimensional space coordinate of characteristic point is calculated
According to optical triangulation principle, by measuring system line-scan digital camera focal length f obtained by calibrating, image principal point u0, line
Array camera optical center coordinate Oc=(Xoc Yoc Zoc), line-scan digital camera optical axis vectorIt is sat with line-structured light optical center
Mark O1=(X1 Y1 Z1), the camera of the photoelectric code disk record on the initial level angle, θ and holder of line-structured light optical plane
The rotation angle of pitch angle and corresponding line-structured light projector.Then calculate the expression formula of the three-dimensional coordinate of space point P such as
Under:
Wherein, all angles refer to spatial point calculating coordinate model schematic Fig. 2 and Fig. 3.
Three, three-dimensional reconstruction and the information such as volume of compartment are calculated
Three-dimensional reconstruction and calculate the information such as volume of compartment be exactly by three-dimensional coordinate data a large amount of in measurand obtained,
Three-dimensional reconstruction is carried out to cabin using numerical computation method, so that analysis meter calculates the data such as the capacity of cabin, and then generates phase
Close chart.
Embodiment described above, only one kind of the present invention more preferably specific embodiment, those skilled in the art
The variations and alternatives that member carries out within the scope of technical solution of the present invention should be all included within the scope of the present invention.
Claims (5)
1. a kind of measurement method of the non-contact measurement system using cabin volume of compartment, wherein
The non-contact measurement system of the cabin volume of compartment includes:
Linear array CCD camera (9) is mounted on cradle head of two degrees of freedom (1)；
Line-structured light projector (3) is mounted on single-degree-of-freedom holder (2)；
Two holders are according to measurand actual conditions, and separated by a distance, distance between the two is exactly so-called parallax range；
The cradle head of two degrees of freedom and the single-degree-of-freedom holder are controlled by FPGA, to realize synchronous scanning and continuous acquisition in real time；
The measuring system further includes the analytical equipment with optical triangulation principle；
The optical center of the linear array CCD camera (9), the optical center of the line-structured light projector (3) and camera fields of view and cable architecture
The intersection point (5) of light constitutes triangle；By the line-structured light projector (3) to measurand surface incident line structure light, energy
It is enough to form striation 3-D image on measurand surface；Utilize the line-structured light projector (3) and the linear array CCD camera
(9) parallax range between, and be based on optical triangulation theory, according to the calculation method of extraterrestrial target point can obtain by
The 3 d space coordinate of each point on object, and then three-dimensional reconstruction measurand form are surveyed, the analytical equipment is according to reconstruction
Measurand, analytical calculation obtain cabin volume of compartment information；
The measurement method the following steps are included:
Step 1, measuring system is demarcated first, establishes world coordinate system Ow-XwYwZw, and determine the ginseng of linear array CCD camera
Several and structured light sensor parameter；
Step 2, by linear array CCD camera and structured light projector cooperation scanning measurand surface, and then measurand is obtained
Image；
Step 3, the pixel coordinate of characteristic point is obtained by image processing techniques；
Step 4, the calculation method of characteristic point is released by optical triangulation theory, and then the three-dimensional coordinate of characteristic point is calculated；
Step 5, three-dimensional modeling is carried out to cabin, analysis meter calculates cabin volume of compartment information；
It is characterized in that, the step 4 releases the calculation method of characteristic point by optical triangulation theory, and according to having acquired
The pixel coordinate of characteristic point, linear array CCD camera parameter, structure optical parameter and characteristic point rotation angle parameter calculate feature
The 3 d space coordinate of point；
The line-scan digital camera is by pitching push-scanning image, so projection of the optical axis in xoy plane is not after camera rotation
Become；
The expression formula for calculating the three-dimensional coordinate is as follows:
Wherein, OcAnd OlRespectively camera photocentre and line-structured light optical center；(Xoc Yoc Zoc) indicate OcWorld coordinates；β is indicated
Structure light optical center OlTo the vector of characteristic point PWith basic lineal vectorAngle；β0Indicate the level of structure light optical plane
Angle；α3For the line vector of picture point and object pointWith basic lineal vectorAngle；Camera optical axis when initialWith
The angle of horizontal plane；δ is the angle step of camera pitching；α1For object point and picture point line PP ' and optical axis XOY plane throwing
The angle that shadow is formed；ψ is the imaging plane of camera and the angle of XOY plane；
The step 5 carries out three-dimensional reconstruction to cabin, analysis meter calculates ship by the three-dimensional coordinate of acquired a large amount of characteristic points
Cabin volume of compartment information, and then generate correlation graph.
2. the method according to claim 1, wherein the line-structured light projector is placed on rotatable list certainly
By on degree holder；The CCD camera be placed on it is rotatable can be on the cradle head of two degrees of freedom of pitching, and maintain a certain distance；
Using line-structured light projector to measurand incident line structure light, using linear array CCD camera as imaging sensor；Described two
Degree-of-freedom cradle head and the single-degree-of-freedom holder are controlled by FPGA, to realize synchronous scanning and continuous acquisition in real time.
3. the method according to claim 1, wherein the step 1 further comprises:
Step 1.1, world coordinate system O is establishedw-XwYwZw；The X of the world coordinate systemwThe positive direction of axis and the structure light light
The heart to the line direction of the linear array CCD camera optical center be the same direction, the Z of the world coordinate systemwThe positive direction of axis is vertical
It faces upward in level, YwAxis positive direction is obtained according to the right-hand rule；
Step 1.2, the parameter of the linear array CCD camera is determined, comprising: camera focus f, image principal point u0, camera photocentre coordinate Oc
=(Xoc Yoc Zoc) and camera optical axis vector
Step 1.3, the structure optical parameter, including line-structured light optical center coordinate O are determinedl=(Xl Yl Zl) and optical plane it is initial
Level angle e；
Step 1.4, position of the structure light optical center in world coordinate system is determined by two borderline four points of structure light optical plane,
And the level angle that optical plane is initial.
4. the method according to claim 1, wherein the step 2 further comprises:
Step 2.1, so that the line-structured light projector is projected vertical line-structured light to measurand and form striation；
Step 2.2, one angle of each pitching of line-scan digital camera intersects at a point with line-structured light striation, and acquires the point, weight
Second mining collection is until the striation in measurand is all acquired；
Step 2.3, make the holder being connected with structured light projector rotate an angle, repeat the above steps 2.2 and 2.3 mistake
Journey, to complete the scanning to entire three-dimension curved surface.
5. the method according to claim 1, wherein the step 3 obtains entire three by image processing techniques
Tie up the pixel coordinate of each characteristic point of curved surface.
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