CN108362235A - A kind of test system and method for the ground flat degree based on image procossing - Google Patents
A kind of test system and method for the ground flat degree based on image procossing Download PDFInfo
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- CN108362235A CN108362235A CN201810165591.6A CN201810165591A CN108362235A CN 108362235 A CN108362235 A CN 108362235A CN 201810165591 A CN201810165591 A CN 201810165591A CN 108362235 A CN108362235 A CN 108362235A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
- G01B11/303—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces using photoelectric detection means
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Abstract
The test system and method for ground flat degree based on image procossing, system include：Harvester includes first camera, the fixed plate of second camera and fixed first camera and second camera in same level, acquires the ground trace unit information for being tested ground, generate and be tested ground photograph；Mobile device includes the connection component of wheels for mobility and connection wheel；Moving assembly is set in mobile device, is connect with harvester, and harvester movement is driven；Control device includes the first driving motor and the second driving motor；First driving motor is set on wheel, and control mobile device is moved along the first preset direction；Second driving motor is connect with moving assembly, and control moving assembly drives harvester to be moved along the second preset direction；Processing unit obtains the tested ground photograph generated, and ground flat degree information is obtained according to binocular distance measurement algorithm.Automatic test of the present invention is tested the ground flat degree on ground, promotes testing efficiency.
Description
Technical field
The present invention relates to ground flat degree technical field of measurement and test more particularly to a kind of ground flat degrees based on image procossing
Test system and method.
Background technology
The flatness on factory indoor ground is an important parameter, and the placement of some special installations and some movements are set
It is standby to have certain requirement to the flatness on ground, so knowing that the flatness on entire factory indoor ground is necessary in advance.
Test ground flat degree technology includes mainly traditional mechanical type contact measurement and laser detection at present.Such as
The building ground flatness detecting device of CN201610327121.6, use is exactly mechanical contact measurement；Such as
The degree of plainness for wall surface laser detecting apparatus of CN201220053670.6 measures the smooth of entire metope using the principle of laser ranging
Degree.Traditional mechanical type contact measures, and precision is low, complicated, and the data of acquisition are few, is unfavorable for advising entire ground
It draws.The laser sensor price of laser detection is high, and because only beam of laser detects, when needing to test entire plane, flower
It is time-consuming very long, it be easy to cause test leakage.
To sum up, above method has its limitation, need technical solution solve improve measuring accuracy, testing efficiency, with
And the problem of obtaining comprehensive terrestrial information.
Invention content
In order to solve the problems, such as to improve measuring accuracy, testing efficiency and obtain comprehensive terrestrial information, the present invention provides
A kind of test system and method for the ground flat degree based on image procossing facilitate progress high-precision, high efficiency and acquisition
The ground flat degree of comprehensive information is tested.
In order to realize purpose disclosed above of the invention, the present invention is achieved by the following technical solutions：
The present invention provides a kind of test systems of the ground flat degree based on image procossing, including：
Harvester, include first camera in same level, second camera and the fixed first camera and
The fixed plate of second camera, the ground trace unit information for acquiring tested ground generate and are tested ground photograph；
Mobile device, including wheels for mobility and the connection component for connecting the wheel；
Moving assembly is set in the mobile device, is connect with the harvester, for driving the harvester to move
It is dynamic；
Control device, including the first driving motor and the second driving motor；First driving motor is set to the wheel
On, it controls the mobile device and is moved along the first preset direction；Second driving motor connects with the moving assembly
It connects, controls the moving assembly and the harvester is driven to be moved along the second preset direction；
Processing unit, the tested ground photograph generated for obtaining the photo generation module, according to binocular vision
Location algorithm obtains ground flat degree information.
Further, the moving assembly includes：Conveyer belt, the linear guide are led across the conveyer belt and the straight line
The sliding block of rail；
The conveyer belt is connect with second driving motor；
The harvester is removably connected to by the fixed plate on the sliding block.
Further, the moving assembly further includes：Telescopic putter；One end of the telescopic putter drives with described second
Motor connects, and the other end of the telescopic putter is connect with the harvester.
Further, the connection component includes：Splice connecting rod and splice bolt；The splicing link detachable is connected to
On the wheel, the splicing connecting rod is spliced by the splice bolt and adjusts the splicing length of connecting rod.
Further, the first camera and second camera include：
Scan module obtains the ground trace unit information of Current terrestrial according to desired guiding trajectory；
First judgment module judges whether the whole scannings for completing the tested ground；
Photo generation module is generated when first judgment module judges to complete whole scannings on the tested ground
The tested ground photograph；
The scan module, when first judgment module judges not completing whole scannings on the tested ground, after
Continue according to the desired guiding trajectory, obtains the ground trace unit information on next ground.
Further, the processing unit includes：
Communication module obtains the tested ground photograph that the photo generation module generates；
Image processing module is analyzed the communication module and is obtained according to the binocular distance measurement algorithm and parameter preset
The tested ground photograph, obtain ground flat degree information.
Further, described image processing module includes：
Divide submodule, obtain at least one ground trace unit, and is extremely by each ground trace dividing elements
Few two points；
Computational submodule is based on binocular distance measurement algorithm, calculate and obtain that each pair of point in 1 points answers away from
From value, the flatness information of corresponding ground is calculated and obtained according to the distance value.
Further, the mobile device further includes：
Second judgment module, judges whether the mobile device reaches along the distance that first preset direction moves
One preset value；
When the mobile device reaches the first preset value along the distance that first preset direction moves, described first
The driving motor control mobile device is fixed, and second driving motor is controlled and adopted described in the moving assembly drive
Acquisition means are moved according to the second preset value along second preset direction.
The present invention also provides a kind of test methods of the ground flat degree based on image procossing, including step：
S100 is controlled after the mobile device reaches the first preset value along the distance that the first preset direction moves, and controls institute
It is fixed to state mobile device；
S200 controls the moving assembly and the harvester is driven to be moved horizontally along the second preset direction, acquires
The ground trace unit information on tested ground, generates and is tested ground photograph；
S300 analyzes the tested ground photograph according to binocular distance measurement algorithm, obtains ground flat degree information.
Further, the step S300 includes step：
S310 obtains at least one ground trace unit, and is at least two by each ground trace dividing elements
Point；
S320 is based on binocular distance measurement algorithm and parameter preset, calculates and obtains above-mentioned preset in 1 points each
The corresponding distance value of point, calculates according to the distance value and obtains the corresponding ground flat degree information of the ground trace unit.
A kind of test system and method for the ground flat degree based on image procossing provided through the invention, can bring
Following at least one advantageous effect：
1, the present invention can realize the ground on automatic test whole ground by the movement of mobile device and harvester
Flatness；
2, the present invention can be quickly obtained the high-precision flatness information on ground using the powerful processing capacity of processor；
3, mobile device of the present invention is spliced, can be adapted for various indoor environments；
4, the test device mechanical structure of ground flat degree of the present invention is that have dismountable, easy to carry and replacement.
Description of the drawings
Attached drawing is to be used to provide further understanding of the present invention, an and part for constitution instruction, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is that a kind of structure of one embodiment of the test system of the ground flat degree based on image procossing of the present invention is shown
It is intended to；
Fig. 2 is a kind of structure of another embodiment of the test system of the ground flat degree based on image procossing of the present invention
Schematic diagram；
Fig. 3 is a kind of structure of another embodiment of the test system of the ground flat degree based on image procossing of the present invention
Schematic diagram；
Fig. 4 is a kind of structure of another embodiment of the test system of the ground flat degree based on image procossing of the present invention
Schematic diagram；
Fig. 5 is a kind of flow of one embodiment of the test method of the ground flat degree based on image procossing of the present invention
Figure；
Fig. 6 is a kind of flow of another embodiment of the test method of the ground flat degree based on image procossing of the present invention
Figure.
Specific implementation mode
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, control is illustrated below
The specific implementation mode of the present invention.It should be evident that drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing, and obtain other embodiments.
To make simplified form, part related to the present invention is only schematically shown in each figure, they are not represented
Its practical structures as product.In addition, so that simplified form is easy to understand, there is identical structure or function in some figures
Component only symbolically depicts one of those, or has only marked one of those.Herein, "one" is not only indicated
" only this ", can also indicate the situation of " more than one ".
Referring to such as Fig. 1, a kind of one embodiment of the test system of the ground flat degree based on image procossing of the present invention, packet
It includes：
Harvester 100 includes first camera 110 in same level, second camera 120 and fixed described the
The fixed plate 130 of one camera 110 and second camera 120, the ground trace unit information for acquiring tested ground generate tested
Ground photograph；
Mobile device 200, including wheels for mobility 210 and the connection component 220 for connecting the wheel 210；
Moving assembly 300 is set in the mobile device 200, is connect with the harvester 100, described for driving
Harvester 100 moves；
Control device 400, including the first driving motor 410 and the second driving motor 420；First driving motor 410
On the wheel 210, controls the mobile device 200 and moved along the first preset direction；The second driving electricity
Machine 420 is connect with the moving assembly 300, is controlled the moving assembly 300 and is driven the harvester 100 default along second
It is moved in direction；
Processing unit 500, the tested ground photograph generated for obtaining the photo generation module 103, according to double
Visually feel location algorithm, obtains ground flat degree information.
Specifically, the technical program provides a kind of test system of the ground flat degree based on image procossing, carrying out
When ground flat degree is tested, harvester 100 is fixed in mobile device 200 first, is then controlled by control device 400
Tested terrestrial information is acquired to the mobile realization automation of mobile device 200 and harvester 100, recycles processing unit
The powerful processing capacity of 500 processor, is quickly obtained the high-precision flatness information on ground, and harvester 100 is filled mobile
It sets the axial direction for being driven by moving assembly 300 on 200 and being moved along component 300 to be moved horizontally, be obtained in moving process
The each ground trace unit information for taking tested ground carries the tested ground indoors of harvester 100 since mobile device 200 multiplies
On it is mobile along the first preset direction (front or rear or left or right), realize the ground trace unit for obtaining whole tested ground
Information, to generate tested ground photograph, it is difficult to obtain comprehensively that the movement of mobile device 200, which solves existing test method or system,
The problem of tested terrestrial information, according to binocular distance measurement algorithm, processing unit 500 analyzes the tested ground photograph, utilizes
The powerful processing capacity of processor, can be quickly obtained the high-precision flatness information on ground, and the present invention passes through processing unit 500
It completes control device 400 and automatic test, which obtains whole and is tested, to be realized to mobile device 200 and the movement control of harvester 100
The ground flat degree on ground promotes testing efficiency and test experience.
Referring to such as Fig. 2, a kind of another embodiment of the test system of ground flat degree based on image procossing of the present invention, phase
For above-described embodiment, the moving assembly 300 includes：Conveyer belt 221, passes through 221 and of the conveyer belt at the linear guide 222
The sliding block 223 of the linear guide 222；
The conveyer belt 221 is connect with second driving motor 420；
The harvester 100 is removably connected to by the fixed plate 130 on the sliding block 223.
Specifically, after mobile device 200 is assembled, continue to carry out moving assembly 300 to be installed on mobile device 200
On, i.e., when moving assembly 300 is conveyer belt 221, the linear guide 222 and sliding block 223, conveyer belt 221 is just installed on two
Between wheel 210, conveyer belt 221 is connect with the second driving motor 420, and the second driving motor 420 drives the operation of conveyer belt 221 simultaneously
It is mobile, due to sliding block 223 be across conveyer belt 221 and the linear guide 222, harvester 100 by fixed plate 130 with
After sliding block 223 connects so that harvester 100 can be while conveyer belt 221 runs movement and follows mobile, moreover it is possible to due to straight
The position-limiting action of line guide rail 222 enables harvester 100 along the axial direction i.e. shifting of conveyer belt 221 of conveyer belt 221
Dynamic direction is moved, and harvester 100 is detachably connected by fixed plate 130 and sliding block 223 in addition, is filled by the acquisition
It sets and fixes the fixed plate 130 of first camera 110 and second camera 120 in 100 and be connected with sliding block 223, so as to by harvester
100 are fixed on the moving assembly 300 of mobile device 200, in this way, when carrying out ground flat degree test, harvester 100 with
It the movement of moving assembly 300 and moves, so as to obtain the test system on tested ground at current stop place
Each ground trace unit information is tested ground photograph to generate, and obtains ground flat degree information, terminates in test
When, harvester 100 is disassembled to and is placed preservation, it is easy to carry to be maintained with cleaning.
Referring to as depicted in figs. 1 and 2, a kind of test system of the ground flat degree based on image procossing of the present invention another
Embodiment, relative to above-described embodiment, the connection component 220 includes：Splice connecting rod 230 and splice bolt 240；The splicing
Connecting rod 230 is removably connected on the wheel 210, is spliced the splicing connecting rod 230 by the splice bolt 240 and is adjusted
230 length of splicing connecting rod.
Specifically, before being tested, the fixation of the assembling and harvester 100 of mobile device 200 is carried out.
The assembling of mobile device 200 includes：Splicing connecting rod 230 is installed and connected on two wheels 210 in left and right；Pass through splicing
Bolt 240 splices connecting rod 230 is spliced；Splicing 230 length of connecting rod is adjusted further according to indoor tested surface size.
The fixation of harvester 100 includes：Pass through the fixed plate 130 and sliding block of first camera 110 and second camera 120
223 are fastened in mobile device 200, in addition, also needing the conveyer belt of the second driving motor of confirmation 420 and moving assembly 300
221 are attached, and the first driving motor 410 is connect with the wheel 210 of mobile device 200.
For example, measuring the interior that area is 100 squares by ground, tested ground is square.It is tested ground according to interior,
Default splicing 230 length of connecting rod is 1.0m, and harvester 100 moves horizontally 0.5m, presets 200 wheel 210 of mobile device every time
Advance 1m.Before testing, splicing mobile device 200 and fixed harvester 100 are carried out according to above-mentioned data.
In being tested, the rotation of the first driving motor 410 drives two wheels 210 to rotate simultaneously, so that moving
Dynamic device 200 is moved along the first preset direction；When mobile device 200 stops fixing not by the first driving motor 410
After dynamic, the rotation of the second driving motor 420 drives moving assembly 300 to be moved, and moving assembly 300 can to acquire when moving
Axial direction i.e. the second preset direction that device 100 moves along the linear guide 222 of component 300 is moved horizontally, acquisition
Device 100 is moved horizontally to acquire the ground trace unit information for being tested ground, and ground trace unit information is on same straight line
Terrestrial information.In this way, by the movement and stopping of control device 400 repetitive control mobile device 200 and harvester 100,
The ground trace unit information that all ground to be measured is completed in detection can be travelled convenient for test system, realizes that automation carries out all
Terrestrial information acquires.Since mobile device 200 carries out spliced installation, Ke Yishi by splicing connecting rod 230 and splice bolt 240
For various indoor environments, when testing larger flooring, 230 length of splicing connecting rod is adjusted, survey can be improved
Efficiency is tried, reducing user, manual teardown is installed repeatedly as the prior art.
Another embodiment of the test system of a kind of ground flat degree based on image procossing of the present invention, relative to above-mentioned reality
Example is applied, the moving assembly 300 further includes：Telescopic putter；One end of the telescopic putter connects with second driving motor 420
It connects, the other end of the telescopic putter is connect with the harvester 100.
Specifically, when moving assembly 300 is telescopic putter, electricity is formed by the second driving motor 420 and telescopic putter
Dynamic push rod realizes moving horizontally for harvester 100 by electric pushrod, and to obtain ground trace unit information, i.e., second drives
Dynamic motor 420 drives telescopic putter to be extended or shortened when being rotated, and when telescopic putter extends, connects with telescopic putter
The harvester 100 connect with the elongation of telescopic putter and away from the direction of the installation site of the second driving motor 420 into
Row movement, when telescopic putter shortens, the harvester 100 that is connect with telescopic putter with the shortening of telescopic putter and towards by
The direction of the installation site of nearly second driving motor 420 is moved, and such harvester 100 is stretched with the cycle of telescopic putter
It contracts and is moved along the axial direction of telescopic putter, comprehensive acquisition mobile device 200 can be automated on tested ground
On ground trace unit information, promoted ground trace unit information collecting efficiency.
Referring to such as Fig. 3, a kind of another embodiment of the test system of the ground flat degree based on image procossing of the invention,
Relative to above-described embodiment, the first camera 110 and second camera 120 include：
Scan module 101, according to desired guiding trajectory, scanning obtains the ground trace unit information of Current terrestrial；
First judgment module 102 judges whether the whole scannings for completing the tested ground；
Photo generation module 103, when first judgment module 102 judges that completing the whole of the tested ground scans
When, generate the tested ground photograph；
The scan module 101, when first judgment module 102 judges that not completing the whole of the tested ground scans
When, continue, according to the desired guiding trajectory, to obtain the ground trace unit information on next ground.
Specifically, opposite above-described embodiment, the present embodiment scan module 101 is by executing a continuous repetitive cycling mistake
Journey is constantly scanned the ground trace unit information for obtaining Current terrestrial that is, according to desired guiding trajectory, tested when ultimately generating
Ground photograph, cyclic process is completely scanned to ensure tested ground, and generates completely tested ground photograph, further according to binocular
Visual token Algorithm Analysis is tested ground photograph, obtains ground flat degree information, with high-efficiency high-precision obtains tested ground
The test result of flatness.Assuming that desired guiding trajectory is that tested ground is divided into m ground trace unit, by each ground trace
Dividing elements are n shooting, collecting point, i.e. Pi ∈ [P1, P2, P3 ..., Pn] so that harvester 100 is in moving assembly 300
It is moved back and forth in mobile device 200 under drive, to obtain n shooting, collecting point on Current terrestrial trajectory unit
Image information, mobile device 200 are moved according to the first preset direction and stop obtaining the ground trace unit on next ground
Information, whole to obtain, the ground trace unit information on complete tested ground is tested ground photograph to generate.
Preferably, the processing unit 500 includes：
Communication module 510 obtains the tested ground photograph that the photo generation module 103 generates；
Image processing module 520 analyzes the communication module according to the binocular distance measurement algorithm and parameter preset
The 510 tested ground photographs obtained, obtain ground flat degree information.
Described image processing module 520 includes：
Divide submodule 521, obtains at least one ground trace unit, and be by each ground trace dividing elements
1 points；
Computational submodule 522 is based on binocular distance measurement algorithm, calculates and obtains above-mentioned preset in 1 points each
The corresponding distance value of point, calculates according to the distance value and obtains the corresponding ground flat degree information of the ground trace unit.
Specifically, in the present embodiment, harvester 100 is obtained by wire transmission mode or wireless transmission method and is generated
Tested ground photograph, the parameter preset inputted in real time by the parameter preset stored in advance or user sits according to the world
Imaging point of every Pi points in the camera image planes of left and right in mark system, obtains each camera (first camera 110 and second camera
120) left hand edge of the imaging point away from respective image planes on optical center to the shortest distance of image planes, focal length and left and right image planes away from
From.In conjunction with parameter preset and binocular distance measurement algorithm, according to binocular distance measurement algorithm, calculates and obtain n point institute
Corresponding ground flat degree information [Z1, Z2, Z3 ..., Zn].Specifically as shown in figure 4, P is a bit in space, P1 is P on a left side
The imaging point in image planes on camera, P2 are imaging points of the P in the image planes of right camera, and f is the shortest distance of the optical center to image planes
That is focal length, OL are the optical centers of left camera, and OR is the optical center of right camera, and the optical axis by visible two cameras in left and right of lower Fig. 4 is
Parallel, XL is the distance of imaging point P1 range image left hand edges in left image planes, and XR is imaging point P2 distances in right image planes
The distance of image left edge.The distance of left hand edges of the P1 and P2 away from respective image planes is XL and XR, and b is the optical center between two optical centers
Distance, therefore, f, b, XR, XL can obtain, and according to binocular distance measurement algorithm, calculate some point P and two-phase in space
The distance Z of machine position plane, shown in row formula (1) specific as follows：
For example, measuring the interior that area is 100 squares by ground, tested ground is square.It is tested ground according to interior,
Default splicing 230 length of connecting rod is 1m, and harvester 100 moves horizontally 1m, presets 200 wheel 210 of mobile device and advances every time
1m.Before testing, splicing mobile device 200 and fixed harvester 100 are carried out according to above-mentioned data.Appoint and obtain a P1 points, surveys
The optical center distance b=0.1m to two cameras is measured, the shortest distance of optical center to image planes is exactly focal length f=0.05m, and P exists
Imaging point in the image planes of left and right is P1 and P2, and the distance of the left hand edge of P1 and P2 away from respective image planes is XL and XR, XL1 and XR1's
Difference is 0.06m, then Z1=0.083m；Appoint again and obtain a Pi points, the difference of XLi and XRi are 0.058m, then Zi=0.086m.
Referring to such as Fig. 3, a kind of another embodiment of the test system of the ground flat degree based on image procossing of the invention,
Relative to above-described embodiment, the mobile device 200 further includes：
Second judgment module 230 judges whether is distance that the mobile device 200 is moved along first preset direction
Reach the first preset value；
It is described when the mobile device 200 reaches the first preset value along the distance that first preset direction moves
It is fixed that first driving motor 410 controls the mobile device 200, and second driving motor 420 controls the movement
Component 300 drives the harvester 100 according to the second preset value, is moved along second preset direction.
Specifically, in the present embodiment, the second judgment module 230 obtains the motion direction information of mobile device 200, movement side
Position information includes directional information and displacement information, judges mobile device 200 along the first preset direction according to motion direction information
Whether mobile distance reaches the first preset value, should judge whether mobile device 200 is moved along the first preset direction,
And mobile device 200 is also judged when the first preset direction carries out mobile distance and whether reaches the first preset value, if
When judging that mobile device 200 reaches the first preset value along the distance that the first preset direction moves, pass through control the first driving electricity
Machine 410 stops operating, to realize that mobile device 200 is fixed, meanwhile, the second driving motor 420 controls harvester 100
It according to the second preset value, is moved along the second preset direction, when second judgment submodule judges that mobile device 200 is fixed not
When dynamic, scan module 101 obtains each ground trace unit information in real time according to the mobile mechanism of the second driving motor 420, this
Sample realizes that mobile device 200 is moved forward and backward and harvester 100 moves horizontally by control device 400, can realize automation
The ground flat degree on the whole ground of test.When carrying out ground flat degree test, in mobile device 200 along the first preset direction
When carrying out mobile displacement distance and reaching the first preset value, the first driving motor 410 in control device 400 stops operating, with
Control mobile device 200 is fixed, and then the second driving motor 420 in control device 400 starts to rotate, control acquisition dress
It sets 100 progress to move horizontally along the second preset direction, scan after being tested ground and generating tested ground photograph, image procossing mould
Block 520 is analyzed according to binocular distance measurement algorithm and parameter preset and is tested ground photograph, and preset coordinate difference cannot be more than 5mm,
Otherwise judge ground out-of-flatness.
Referring to such as Fig. 5, a kind of one embodiment stream of the test method of the ground flat degree based on image procossing of the present invention
Cheng Tu, including step：
S100 is controlled after the mobile device reaches the first preset value along the distance that the first preset direction moves, and controls institute
It is fixed to state mobile device；
S200 controls the moving assembly and the harvester is driven to be moved horizontally along the second preset direction, acquires
The ground trace unit information on tested ground, generates and is tested ground photograph；
S300 analyzes the tested ground photograph according to binocular distance measurement algorithm, obtains ground flat degree information.
Specifically, mobile device and harvester movement are controlled in step S100-S200, to complete harvester acquisition
Each ground trace unit information is completed all to scan tested ground, be generated by geodetic with harvester by cyclic process
The photo in face is finally tested the photo on ground according to binocular distance measurement Algorithm Analysis, obtains ground flat degree information, is circulated throughout
Journey ensures that tested ground is all scanned tested, analyzes the photo for being tested ground, with high-efficiency high-precision obtains by geodetic
The test result of surface evenness.For example, measuring the interior that area is 100 squares by ground, tested ground is square.According to room
Interior tested ground, it is 1m to preset splicing connecting rod length, and default mobile device wheel moves 1m every time, and harvester is moved per sub-level
Dynamic 0.1m.Before testing, splicing mobile device and fixed harvester are carried out according to above-mentioned data.In testing, every time in step
Mobile device and harvester move 1m in rapid S100 and S200, after carrying out 100 scanning, complete to be tested ground based scanning, generate
The photo on tested ground analyzes the photo for being tested ground further according to binocular distance measurement algorithm, obtains ground flat degree information.
In another example default mobile device wheel can be adjusted by ground to improve measuring accuracy by measuring the interior that area is 100 squares
Each forward travel distance is 10cm, then needs after carrying out 1000 scannings, complete to be tested ground based scanning, generate the photo for being tested ground,
Further according to binocular distance measurement algorithm, the photo for being tested ground is analyzed, obtains ground flat degree information.
Referring to such as Fig. 6, a kind of another embodiment of the test method of the ground flat degree based on image procossing of the present invention
Flow chart, including：
S100 is controlled after the mobile device reaches the first preset value along the distance that the first preset direction moves, and controls institute
It is fixed to state mobile device；
S200 controls the moving assembly and the harvester is driven to be moved horizontally along the second preset direction, acquires
The ground trace unit information on tested ground, generates and is tested ground photograph；
S310 obtains at least one ground trace unit, and is at least two by each ground trace dividing elements
Point；
S320 is based on binocular distance measurement algorithm and parameter preset, calculates and obtains above-mentioned preset in 1 points each
The corresponding distance value of point, calculates according to the distance value and obtains the corresponding ground flat degree information of the ground trace unit.
Specifically, in the present embodiment, control mobile device is moved along the first preset direction, and it is mobile it is default away from
From rear, control mobile device is fixed, and control moving assembly drives the second preset direction of harvester to be moved horizontally, and adopts
Collection is tested the ground trace unit information on ground, generates and is tested ground photograph, before generation is tested ground photograph, needs to judge
Whether completion, which is tested the whole of ground, scans；If not completing all scanning, step S100 is repeated, if completing all scanning
At least one ground trace unit of photo acquisition for being tested ground is generated, is to preset n point by each ground trace dividing elements
[P1, P2, P3 ..., Pn], n>=2 integer calculates according to binocular distance measurement algorithm combination parameter preset and obtains point Pi
Corresponding ground flat degree information, wherein Pi ∈ Pi ∈ [P1, P2, P3 ..., Pn] so that harvester is in moving assembly
It is moved back and forth on the mobile device under drive, to obtain the figure of n shooting, collecting point on Current terrestrial trajectory unit
As information, mobile device is moved according to the first preset direction and stops obtaining the ground trace unit information on next ground,
Whole to obtain, the ground trace unit information on complete tested ground is tested ground photograph to generate.
The tested ground photograph that harvester 100 generates is obtained by wire transmission mode or wireless transmission method, is led to
After the parameter preset that the parameter preset or user that store in advance input in real time, i.e., existed according to every Pi points in world coordinate system
Imaging point in the camera image planes of left and right obtains the optical center of each camera (first camera 110 and second camera 120) to image planes most
The distance of left hand edge of the imaging point away from respective image planes in short distance, focal length and left and right image planes.In conjunction with parameter preset and double
Visually feel that location algorithm calculates according to binocular distance measurement algorithm and obtains the ground flat degree information corresponding to the n point
[Z1, Z2, Z3 ..., Zn].Specifically as shown in figure 4, P is a bit in space, P1 is imagings of the P in the image planes on left camera
Point, P2 are imaging points of the P in the image planes of right camera, and f is optical center to the shortest distance, that is, focal length of image planes, and OL is left camera
Optical center, OR is the optical center of right camera, and the optical axis by visible two cameras in left and right of lower Fig. 4 is parallel, and XL is that imaging point P1 exists
The distance of range image left hand edge in left image planes, XR are the distances of imaging point P2 range image left hand edges in right image planes.P1 and
The distance of left hand edges of the P2 away from respective image planes is XL and XR, and b is the optical center distance between two optical centers, and therefore, f, b, XR, XL are
It can obtain, according to binocular distance measurement algorithm, calculate some point P and double camera position plane distance Z in space, have
Shown in body such as following equation (1)：
It realizes that mobile device is moved forward and backward and harvester moves horizontally by control device, can realize automatic test
The ground flat degree on whole ground promotes testing efficiency and measuring accuracy.
In the present invention, if being realized in the form of SFU software functional unit and selling or use as independent product
When, it can be stored in a computer read/write memory medium.Based on this understanding, the technical solution of the application is substantially
In other words the part to the contribution of the prior art or the technical solution in whole or in part can be in the form of software products
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (but personal computer, server either network equipment) or processor execute the complete of the application embodiment method
Portion or part steps.And storage above-mentioned is worth bag data server, cloud server, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), mobile communication equipment or CD or U
Disk etc. is various can be with the medium of store code.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it should also be regarded as the disclosure of the present invention.
Claims (10)
1. a kind of test system of the ground flat degree based on image procossing, which is characterized in that including：
Harvester includes first camera, second camera and the fixed first camera and second in same level
The fixed plate of camera, the ground trace unit information for acquiring tested ground generate and are tested ground photograph；
Mobile device, including wheels for mobility and the connection component for connecting the wheel；
Moving assembly is set in the mobile device, is connect with the harvester, for driving the harvester to move；
Control device, including the first driving motor and the second driving motor；First driving motor is set on the wheel, control
The mobile device is made to be moved along the first preset direction；Second driving motor is connect with the moving assembly, control
Making the moving assembly drives the harvester to be moved along the second preset direction；
Processing unit, the tested ground photograph generated for obtaining the photo generation module, according to binocular distance measurement
Algorithm obtains ground flat degree information.
2. the test system of the ground flat degree according to claim 1 based on image procossing, which is characterized in that the shifting
Dynamic component includes：Conveyer belt, the linear guide, across the sliding block of the conveyer belt and the linear guide；
The conveyer belt is connect with second driving motor；
The harvester is removably connected to by the fixed plate on the sliding block.
3. the test system of the ground flat degree according to claim 1 based on image procossing, which is characterized in that the shifting
Dynamic component further includes：Telescopic putter；One end of the telescopic putter is connect with second driving motor, the telescopic putter
The other end is connect with the harvester.
4. the test system of the ground flat degree according to claim 1 based on image procossing, which is characterized in that the company
Connected components include：Splice connecting rod and splice bolt；The splicing link detachable is connected on the wheel, passes through the splicing
Bolt splices the splicing connecting rod and adjusts the splicing length of connecting rod.
5. the test system of the ground flat degree according to claim 1 based on image procossing, which is characterized in that described
One camera and second camera include：
Scan module obtains the ground trace unit information of Current terrestrial according to desired guiding trajectory；
First judgment module judges whether the whole scannings for completing the tested ground；
Photo generation module, when first judgment module judges to complete whole scannings on the tested ground, described in generation
Tested ground photograph；
The scan module continues root when first judgment module judges not completing whole scannings on the tested ground
According to the desired guiding trajectory, the ground trace unit information on next ground is obtained.
6. the test system of the ground flat degree according to claim 5 based on image procossing, which is characterized in that the place
Managing device includes：
Communication module obtains the tested ground photograph that the photo generation module generates；
Image processing module analyzes the institute that the communication module obtains according to the binocular distance measurement algorithm and parameter preset
Tested ground photograph is stated, ground flat degree information is obtained.
7. the test system of the ground flat degree according to claim 6 based on image procossing, which is characterized in that the figure
As processing module includes：
Divide submodule, obtains at least one ground trace unit, and be at least two by each ground trace dividing elements
A point；
Computational submodule is based on binocular distance measurement algorithm, calculates and obtains each pair of point in above-mentioned default 1 points and answers
Distance value, calculated according to the distance value and obtain the corresponding ground flat degree information of the ground trace unit.
8. the test system of the ground flat degree according to claim 5 based on image procossing, which is characterized in that the shifting
Dynamic device further includes：
Second judgment module, judges whether the mobile device reaches first in advance along the distance that first preset direction moves
If value；
When the mobile device reaches the first preset value along the distance that first preset direction moves, first driving
The motor control mobile device is fixed, and second driving motor controls the moving assembly and drives the acquisition dress
It sets according to the second preset value, is moved along second preset direction.
9. a kind of test method of the ground flat degree based on image procossing, is based on using claim 1-8 any one of them
The test system of the ground flat degree of image procossing, which is characterized in that including step：
S100 is controlled after the mobile device reaches the first preset value along the distance that the first preset direction moves, and controls the shifting
Dynamic device is fixed；
S200 controls the moving assembly and the harvester is driven to be moved horizontally along the second preset direction, and acquisition is tested
The ground trace unit information on ground generates and is tested ground photograph；
S300 analyzes the tested ground photograph according to binocular distance measurement algorithm, obtains ground flat degree information.
10. the test method of the ground flat degree based on image procossing according to claim 9, which is characterized in that the step
Rapid S300 includes step：
S310 obtains at least one ground trace unit, and is 1 points by each ground trace dividing elements；
S320 is based on binocular distance measurement algorithm and parameter preset, calculates and obtains each pair of point in above-mentioned default 1 points
The distance value answered calculates according to the distance value and obtains the corresponding ground flat degree information of the ground trace unit.
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