CN104504751B - Rebuild the diagnostic method of detonation flame surface three dimension geometric shape - Google Patents
Rebuild the diagnostic method of detonation flame surface three dimension geometric shape Download PDFInfo
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- CN104504751B CN104504751B CN201410787159.2A CN201410787159A CN104504751B CN 104504751 B CN104504751 B CN 104504751B CN 201410787159 A CN201410787159 A CN 201410787159A CN 104504751 B CN104504751 B CN 104504751B
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Abstract
The invention discloses a kind of diagnostic method for rebuilding detonation flame surface three dimension geometric shape, synchronous technical problem is needed for solving Binocular Stereo Vision System in existing diagnostic method.Technical scheme is to build experimental system using high speed Binocular Stereo Vision System, experimental system is demarcated using Zhang Zhengyou standardizations, then detonation flame is imaged using experimental system and image is handled, using normalized crosscorrelation algorithm to the image of collection to matching, obtain corresponding matching double points in two images, the three-dimensional coordinate with the spatial point corresponding to the picture point on image is calculated further according to three-dimensional reconstruction algorithm, the reconstruction of detonation flame surface three dimension geometric shape is realized.Due to being rebuild to detonation flame surface using high speed Binocular Stereo Vision System, it is to avoid Binocular Stereo Vision System needs the technical problem of synchronization in background technology diagnostic method.
Description
Technical field
It is more particularly to a kind of to rebuild detonation flame surface three the present invention relates to a kind of diagnostic method of three-dimensional geometry profile
Tie up the diagnostic method of geometric shape.
Background technology
Document " pulse-knocking engine principle and key technology, 2005, p341-343 " and " combustion experiment diagnostics,
2005, p2-3, p180-187 " systematically describe occur so far be used for what detonating combustion flow field and flame structure were shown
Some diagnostic methods.Be presently used for the diagnostic method that detonating combustion flow field and flame structure shows mainly have commonness photograph method and
Two kinds of holographic method.All there are respective advantage and disadvantage in both approaches.Commonness photograph method is aobvious using high-speed photography or Electronic Speculum
Micro- photography is imaged to combustion flame, and the structure of flame is distinguished out according to captured image, to one group of figure being continuously shot
The recognition of picture can also obtain the information of flame development.Commonness photograph method is simple to operate, easily realizes, at present in scientific research and engineering
Field applies relatively broad, but this method can only obtain the two dimensional image of flame, and a dimension is lost in imaging process
The information of degree, needs artificially to be judged when distinguishing image, with the addition of uncertain factor.Holographic method is using complete
The principle of imaging is ceased, object is irradiated using laser beam, the reference beam that object beam and the same laser beam of object reflection are separated is folded
Plus, interference image is produced on holofilm, after processing hologram image, then can obtain object with same laser irradiation
Freely it is suspended in the space image in space.Holographic method results in the three-dimensional information of flame structure, but needs to use costliness
Experimental facilities and complicated optical texture, and quality and skill to experimenter requires higher, and which also limits this
The application of method.In summary, the existing diagnostic method presence shown for detonating combustion flow field and flame structure is main
Technical problem is that the three-dimensional information of flame structure can not be obtained with rational cost.
The content of the invention
In order to overcome the shortcomings of that Binocular Stereo Vision System needs a kind of synchronous, weight of present invention offer in existing diagnostic method
Build the diagnostic method of detonation flame surface three dimension geometric shape.This method builds experiment system using high speed Binocular Stereo Vision System
System, is demarcated to experimental system using Zhang Zhengyou standardizations, then detonation flame is imaged and right using experimental system
Image is handled, and obtains corresponding in two images to matching to the image of collection using normalized crosscorrelation algorithm
Matching double points, the three-dimensional coordinate with the spatial point corresponding to the picture point on image is calculated further according to three-dimensional reconstruction algorithm, is realized
The reconstruction of detonation flame surface three dimension geometric shape.For a series of images pair being continuously shot, by the image of later moment in time with
The image of previous moment is compared, and obtains development of the detonation flame in tiny time interval, then it is rebuild,
Obtain the information that three-dimensional detonation flame surface is changed over time.Due to using high speed Binocular Stereo Vision System to detonation flame table
Face is rebuild, and Binocular Stereo Vision System in background technology diagnostic method can be avoided to need synchronous technical problem.
The technical solution adopted for the present invention to solve the technical problems is：One kind is rebuild outside detonation flame surface three dimension geometry
The diagnostic method of shape, is characterized in using following steps：
Step 1：High-speed camera 2 is placed in above tripod 1, high-speed camera 2 above places four mirror binocular point mirrors
Device 3 constitutes high speed Binocular Stereo Vision System, and experimental system is placed in before the observation window 5 of detonation tube 4.The placement of experimental system
With can make observation window formed in the camera two clearly image and image be full of whole view, regulate aperture, focal length and
After shutter, keep whole system motionless.
Step 2：The demarcation of system includes the demarcation of one camera and the demarcation of double camera.
Step 2.1：The demarcation of one camera.First, using one camera to calibrating template at different postures and position into
Picture, the knots modification of calibrating template posture and position should not be too small each time, and the knots modification of each attitude angle should be greater than 30 degree, bat
The image log mesh taken the photograph should be more than 10 pairs.The coordinate of characteristic point is obtained with Harris corner detection methods on image.Utilize spy
True coordinate a little and its image point coordinates are levied, the projection matrix of camera is obtained, is obtained according to Zhang Zhengyou standardizations in all
External parameter, completes the demarcation of one camera.
Step 2.2：The demarcation of double camera.Left and right camera is demarcated respectively, system knot is calculated using calibration result
Spin matrix R and translation vector t between the camera of structure parameter, i.e., two, using known left camera internal and external parameter and be
System structural parameters calculate the external parameter of right camera in turn, and substituting original one camera with the external parameter calculated demarcates
External parameter out.The internal and external parameter of left and right camera is optimized again, during optimization, except considering that the projection of camera is closed
Outside system, in addition it is also necessary to consider the restriction relation of epipolar geom etry.All camera internal and external parameter and system are obtained by optimization
The value of structural parameters.Optimize formula as follows：
minΣd(mL, m 'L)+d(mR, m 'R)+d(mL, LL)+d(mR, LR)
In formula,
D (m, n) represents the Euclidean distance between point m and point n or straight line n, mL、mRRepresentation space point M is on left images
True picture point,Representation space point M passes through the preferred view point that linear projection is calculated, LL、LRIt is m respectivelyR、
mLCorresponding polar curve.
Complete after demarcation, calibration result is detected.Calculate all spatial point M subpoint mIWith true picture point m
The distance between average value D_mean (m, mI), average value is compared with threshold values ε.If average value is less than threshold values,
Think that calibration result is accurate, otherwise, shooting is re-started by the method for the number and increase template attitude angle that increase image pair
And demarcation.
Step 3：Detonation engine fuel delivery, air demand and spark rate are set, cooling system and lubrication is checked
System health, lights a fire after all going well, and engine is normally run and produces stable detonation wave.Then system photographs are used
Flame, obtains the image of detonation flame.
Step 4：A small amount of random noise in image is removed first by mean filter, is then gone using Gaussian filter
Except Gaussian noise, processing is finally sharpened to image using Laplace operator.
Step 5：It is then mutual using normalization using polar curve correcting algorithm to image to be matched to carrying out polar curve correction
Algorithm is closed to image to matching.
Step 5.1：According to the knowledge of epipolar geom etry, the pixel that each polar curve passes through is calculated, by these element markings
For same a line, all after treatment, corresponding points do not have the difference of ordinate to left and right image.Then again after clipping correction polar curve
Image.
Step 5.2：Region of search of the point to be matched in right figure in left figure is first found, it is rough by choosing one manually
Match point, takes a range of pixel of this point or so to constitute region of search.Match point is found in pointwise in region of search, to every
The same size of correlation window in the correlation window that one point will be set up centered on it, left and right two figure, it is mutual with normalization
The degree of correlation that algorithm calculates two points is closed, the point of mark correlation maximum is match point.The size of correlation window is to matching
Speech is critically important, if matching is inaccurate, matching is re-started again after the size for changing window.
Step 6：According to the coordinate of matching double points and the parameter of system, the three of spatial point is gone out using three-dimensional reconstruction algorithm inverse
Dimension coordinate.Delaunay triangles are carried out using the function delaunay built in MATLAB softwares to the discrete point after reconstruction to cut open
Point, texture then is filled to the triangle of subdivision, the three-dimensional reconstruction on detonation flame surface is completed.
The beneficial effects of the invention are as follows：This method builds experimental system using high speed Binocular Stereo Vision System, using
Positive friend's standardization is demarcated to experimental system, then using experimental system detonation flame is imaged and to image at
Reason, corresponding matching double points in two images are obtained using normalized crosscorrelation algorithm to the image of collection to matching, then
The three-dimensional coordinate of spatial point according to corresponding to being calculated with the picture point on image three-dimensional reconstruction algorithm, realizes detonation flame surface
The reconstruction of three-dimensional geometry profile.For a series of images pair being continuously shot, by the image of later moment in time and the figure of previous moment
As being compared, development of the detonation flame in tiny time interval is obtained, then it is rebuild, three-dimensional pinking is obtained
The information that flame surface is changed over time.Due to being rebuild using high speed Binocular Stereo Vision System to detonation flame surface,
Avoiding Binocular Stereo Vision System in background technology diagnostic method needs synchronous technical problem.
The present invention is elaborated with reference to the accompanying drawings and detailed description.
Brief description of the drawings
Fig. 1 is the diagnostic method measurement apparatus schematic diagram that the present invention rebuilds detonation flame surface three dimension geometric shape.
Fig. 2 is the flow chart for the diagnostic method that the present invention rebuilds detonation flame surface three dimension geometric shape.
In figure, 1- tripods, 2- high-speed cameras, the mirror binocular point mirror devices of 3- tetra-, 4- detonation tubes, 5- observation windows.
Embodiment
Reference picture 1-2.The diagnostic method that the present invention rebuilds detonation flame surface three dimension geometric shape is comprised the following steps that：
Step 1：Build experimental system.Referring to the drawings 1, figure high speed video camera 2 is placed in above tripod 1, is taken the photograph at a high speed
Camera 2, which above adds, has put the four mirror binoculars point composition high speed Binocular Stereo Vision Systems of mirror devices 3, and system rest is in detonation tube 4
Observation window 5 before correct position at.So that observation window can be made to form two in the camera, clearly image is simultaneously for the placement of system
And image full of whole view to be best, rule of thumb system is apart from one meter or so of detonation tube observation window.Regulate aperture, focal length
After the parameter such as shutter, whole system is maintained for motionless.
Step 2：The demarcation of system.The demarcation of system includes the demarcation of one camera and the demarcation of double camera, and demarcating steps are such as
Under：
Step 2.1：The demarcation of one camera.First, calibrating template is imaged at different postures and position using camera,
The knots modification of calibrating template posture and position should not be too small each time, and the knots modification of each attitude angle should be greater than 30 degree, shooting
Image log mesh should be more than 10 pairs.The coordinate of characteristic point is known in advance on calibrating template, the seat of characteristic point on image
Mark is obtained with Harris corner detection methods.Using the true coordinate and its image point coordinates of characteristic point, the projection of camera is obtained
Matrix, all internal and external parameters are obtained according to Zhang Zhengyou standardizations, that is, complete the demarcation of one camera.
Step 2.2：The demarcation of double camera.After being demarcated respectively to left and right camera, calculated using calibration result
Spin matrix R and translation vector t between the camera of system structure parameter, i.e., two, are joined using the inside and outside of known left camera
Number and system structure parameter calculate the external parameter of right camera in turn, are substituted with the external parameter calculated original single-phase
Machine calibrates the external parameter come.The internal and external parameter of left and right camera is optimized again, during optimization, the throwing except considering camera
Outside shadow relation, it is also contemplated that the restriction relation of epipolar geom etry.All camera internal and external parameter is obtained by optimization and is
The value of system structural parameters.Optimize formula as follows：
minΣd(mL, m 'L)+d(mR, m 'R)+d(mL, LL)+d(mR, LR)
In formula,
D (m, n) represents the Euclidean distance between point m and point n or straight line n, mL、mRRepresentation space point M is on left images
True picture point,Representation space point M passes through the preferred view point that linear projection is calculated, LL、LRIt is m respectivelyR、
mLCorresponding polar curve.
Complete after demarcation, also calibration result is detected.Calculate all spatial point M subpoint mIWith true picture
The distance between point m average value D_mean (m, mI), average value is compared with threshold values ε.If average value is less than threshold values,
Then think that calibration result is accurate, otherwise, bat is re-started by the method for the number and increase template attitude angle that increase image pair
Take the photograph and demarcate.
Step 3：Obtain detonation flame image.According to calculating and experience, by detonation engine fuel delivery, air demand, igniting
Set of frequency is good, checks cooling system and lubrication system works situation, is lighted a fire after all going well, engine is normally run and is produced
Raw stable detonation wave.Then system photographs flame is used, the image of detonation flame is obtained.
Step 4：Image procossing.Research finds that the image shot under laboratory condition contains a small amount of random noise and one
Fixed Gaussian noise.The present invention first removes random noise using mean filter, reuses Gaussian filter and removes Gaussian noise,
Processing is finally sharpened to image using Laplace operator.
Step 5：Images match.Polar curve correction and the matching of image pair of the images match comprising image pair, its step are as follows：
Step 5.1：, it is necessary to carry out polar curve correction process to image before images match.According to the knowledge of epipolar geom etry,
Calculate the pixel that each polar curve passes through, these pixels be labeled as same a line, left images all after treatment, corresponding points
There is no the difference of ordinate.Then image again after clipping correction polar curve.
Step 5.2：Image matching algorithm uses the normalized crosscorrelation algorithm based on Region Matching.First find in left figure and treat
Region of search of the match point in right figure, by choosing a rough match point manually, takes this point or so a range of
Pixel constitutes region of search.Match point is found in pointwise in region of search, the phase that will be set up centered on it to each point
The same size of correlation window in window, the figure of left and right two is closed, the degree of correlation of two points, mark are calculated with normalized crosscorrelation algorithm
The point for remembering correlation maximum is match point.The size of correlation window is critically important for matching, if matching is inaccurate, changes
Matching is re-started after the size of window again.
Step 6：Three-dimensional reconstruction.According to the coordinate of matching double points and the parameter of system, gone out using three-dimensional reconstruction algorithm inverse
The three-dimensional coordinate of spatial point.The discrete point after reconstruction is carried out using the function delaunay built in MATLAB softwares
Delaunay triangulations, then fill texture to the triangle of subdivision, complete the three-dimensional reconstruction on detonation flame surface.
Claims (1)
1. a kind of diagnostic method for rebuilding detonation flame surface three dimension geometric shape, it is characterised in that comprise the following steps：
Step 1：High-speed camera (2) is placed in tripod (1) above, high-speed camera (2) above places four mirror binoculars point
Mirror device (3) constitutes high speed Binocular Stereo Vision System, and experimental system is placed in before the observation window of detonation tube (4) (5)；Experiment system
The placement of system with can make observation window formed in the camera two clearly image and image be full of whole view, regulate light
After circle, focal length and shutter, keep whole system motionless；
Step 2：The demarcation of system includes the demarcation of one camera and the demarcation of double camera；
Step 2.1：The demarcation of one camera；First, calibrating template is imaged at different postures and position using one camera, often
The knots modification of calibrating template posture and position should not be too small, and the knots modification of each attitude angle should be greater than 30 degree, shooting
Image log mesh should be more than 10 pairs；The coordinate of characteristic point is obtained with Harris corner detection methods on image；Utilize characteristic point
True coordinate and its image point coordinates, obtain the projection matrix of camera, all inside and outsides obtained according to Zhang Zhengyou standardizations
Parameter, completes the demarcation of one camera；
Step 2.2：The demarcation of double camera；Left and right camera is demarcated respectively, system architecture ginseng is calculated using calibration result
Spin matrix R and translation vector t between number, i.e., two cameras, utilize the internal and external parameter and system knot of known left camera
Structure parameter calculates the external parameter of right camera in turn, substituted with the external parameter that calculates original one camera calibrate come
External parameter；The internal and external parameter of left and right camera is optimized again, during optimization, except consider camera projection relation it
Outside, in addition it is also necessary to consider the restriction relation of epipolar geom etry；All camera internal and external parameter and system architecture are obtained by optimization
The value of parameter；Optimize formula as follows：
min∑d(mL, m 'L)+d(mR, m 'R)+d(mL, LL)+d(mR, LR)
In formula, d (m, n) represents the Euclidean distance between point m and point n or straight line n, mL、mRRepresentation space point M is in left images
On true picture point, m 'L、m′RRepresentation space point M passes through the preferred view point that linear projection is calculated, LL、LRIt is m respectivelyR、
mLCorresponding polar curve；
Complete after demarcation, calibration result is detected；Calculate between all spatial point M subpoint m ' and true picture point m
Distance average value D_mean (m, m '), average value is compared with threshold values ε；If average value is less than threshold values, then it is assumed that
Calibration result is accurate, otherwise, re-starts shooting by the method for the number and increase template attitude angle that increase image pair and marks
It is fixed；
Step 3：Detonation engine fuel delivery, air demand and spark rate are set, cooling system and lubricating system is checked
Working condition, lights a fire after all going well, and engine is normally run and produces stable detonation wave；Then with system photographs fire
Flame, obtains the image of detonation flame；
Step 4：A small amount of random noise in image is removed first by mean filter, is then removed using Gaussian filter high
This noise, is finally sharpened processing to image using Laplace operator；
Step 5：Using polar curve correcting algorithm to image to be matched to carrying out polar curve correction, then calculated using normalized crosscorrelation
Method is to image to matching；
Step 5.1：According to the knowledge of epipolar geom etry, the pixel that each polar curve passes through is calculated, by these pixels labeled as same
A line, all after treatment, corresponding points do not have the difference of ordinate to left and right image；Then figure again after clipping correction polar curve
Picture；
Step 5.2：Region of search of the point to be matched in right figure in left figure is first found, by choosing a rough matching manually
Point, takes a range of pixel of this point or so to constitute region of search；Match point is found in pointwise in region of search, to each
The same size of correlation window in the correlation window that point will be set up centered on it, left and right two figure, is calculated with normalized crosscorrelation
Method calculates the degree of correlation of two points, and the point of mark correlation maximum is match point；The size of correlation window for matching very
It is important, if matching is inaccurate, matching is re-started again after the size for changing window；
Step 6：According to the coordinate of matching double points and the parameter of system, the three-dimensional of spatial point is gone out using three-dimensional reconstruction algorithm inverse and sat
Mark；Delaunay triangulations are carried out to the discrete point after reconstruction using the function delaunay built in MATLAB softwares, so
Texture is filled to the triangle of subdivision afterwards, the three-dimensional reconstruction on detonation flame surface is completed.
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| CN110207801B (en) * | 2019-05-14 | 2020-12-08 | 西北工业大学 | Detonation wave three-dimensional structure reconstruction system based on shadow technology |
| CN111429571B (en) * | 2020-04-15 | 2023-04-07 | 四川大学 | Rapid stereo matching method based on spatio-temporal image information joint correlation |
| CN112489200B (en) * | 2020-12-04 | 2023-09-12 | 南京大学 | Three-dimensional reconstruction device and method for flame spectrum |
| CN114047090B (en) * | 2022-01-11 | 2022-04-01 | 矿冶科技集团有限公司 | Method for accurately positioning high-jet flame thermal shock test sample and high-jet flame thermal shock test method |
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