CN108394789A - Cage guide surface abrasion degree detecting method and device based on computer vision - Google Patents
Cage guide surface abrasion degree detecting method and device based on computer vision Download PDFInfo
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- CN108394789A CN108394789A CN201810093321.9A CN201810093321A CN108394789A CN 108394789 A CN108394789 A CN 108394789A CN 201810093321 A CN201810093321 A CN 201810093321A CN 108394789 A CN108394789 A CN 108394789A
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- cage guide
- coordinate system
- point
- guide surface
- camera
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B7/00—Other common features of elevators
- B66B7/12—Checking, lubricating, or cleaning means for ropes, cables or guides
- B66B7/1207—Checking means
- B66B7/1246—Checking means specially adapted for guides
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention belongs to elevator detection field more particularly to a kind of cage guide surface abrasion degree detecting method and device based on computer vision, the method includes：It needs to project controllable striation according to measurement by laser projecting apparatus and forms characteristic point to cage guide surface；The image about cage guide surface characteristics point is shot, then image is handled, extraction obtains the corresponding pixel coordinate of characteristic point；It converts the pixel coordinate for the characteristic point extracted to according to conversion parameter obtained by calibrating the space coordinate of the point, completes the Space Reconstruction of cage guide；The three-dimensional configuration of cage guide is obtained by Space Reconstruction, judges cage guide surface abrasion degree, detection method is due to carrying out image procossing, and discrimination is high, and measurement result is accurate, overcomes the problems, such as the incomplete of existing detection technique.
Description
Technical field
The present invention relates to elevator detection field more particularly to a kind of cage guide surface abrasion journeys based on computer vision
Spend detection method and device.
Background technology
Large-scale economic construction brings unprecedented opportunity to develop to elevator market, at the same also bring the detection of elevator with
The problems such as safeguarding, inner structure of elevator is more complex, and the safe operation of elevator becomes the problem of meriting attention.Liter of the guide rail to elevator
Drop movement play the guiding role, it limits car and counterweight movement in the horizontal direction, ensure car with to focusing on the phase in hoistway
Mutual position, and the inclination generated due to the unbalance loading of car is prevented, in running process of elevator, between guide shoe and guide rail, always
There are larger frictional force, prolonged operation can make guide rail surface wear, and gap increases between guide rail and guide shoe, makes
The phenomenon that being shaken at elevator.T-type guide rail is to make guide rail with the most use in current China's elevator, versatile, and is had
There are good anti-bending strength and machinability.To ensure the safe operation of elevator, T-type way rub degree in elevator is examined
Survey seems particularly necessary.In existing situation, detection cage guide surface abrasion degree often occurs that efficiency is low, cost of implementation
The defects of high, complicated for operation.Therefore, it is necessary to design it is a kind of be worthy to be popularized, way rub in the elevator that result is accurate, easy to implement
Detection method ensures the stable operation of elevator.
Invention content
Technical problem to be solved by the present invention lies in provide a kind of cage guide surface abrasion based on computer vision
Degree detecting method and device overcomes the problems, such as the incomplete of existing detection technique.
The invention is realized in this way on the one hand providing a kind of cage guide surface abrasion degree based on computer vision
Detection method, the method includes：
It needs to project controllable striation according to measurement by laser projecting apparatus and forms characteristic point to cage guide surface；
The image about cage guide surface characteristics point is shot, then image is handled, extraction obtains characteristic point pair
The pixel coordinate answered；
Conversion parameter is obtained by calibration, and the pixel coordinate for the characteristic point extracted is converted by this according to conversion parameter
The space coordinate of point, completes the Space Reconstruction of cage guide；
The three-dimensional configuration of cage guide is obtained by Space Reconstruction, judges cage guide surface abrasion degree.
On the one hand further, described image processing includes spreading out in image denoising, binary conversion treatment removal optical system
Penetrate, geometric distortion caused by image motion, electronic imaging system sensor, signals transmission noise jamming.
On the one hand further, the extraction obtains the corresponding pixel coordinate of characteristic point, is examined including the use of sub-pix angle point
Principle is surveyed, when a window slides on the image, if being in smooth region, window does not change in all directions, if being in angle
At point, window changes in all directions, by the variation degree of window in all directions, decides whether for angle point, to carry
The angle point got is one of the characteristic point on cage guide surface, and all characteristic points constitute the configuration of surface of cage guide.
On the one hand further, the calibration includes the calibration of camera calibration and line-structured light optical plane, passes through camera
Calibration obtains the internal reference of camera and outer ginseng, according to obtained parameter, carries out pixel coordinate system, camera coordinate system and the world
Then the conversion of three coordinate systems of coordinate system carries out the calibration of structure light optical plane, the parameter of aiming plane is estimated, leads to
The parametric equation for crossing least square fitting exit plane demarcates the cage guide surface characteristics point picture that will be extracted by two steps
Plain coordinate is converted to the space coordinate of the point.
On the one hand further, the conversion of three coordinate systems includes：According between pixel coordinate system and camera coordinate system
Relational implementation 2 d-to-3 d conversion, pixel coordinate system is converted to camera coordinate system according to the triangle principle of similitude, according to
Relational implementation three-dimensional between camera coordinate system and world coordinate system is to three-dimensional conversion, and camera coordinate system is by rotating and putting down
Transfer is changed to world coordinate system.
Another aspect of the present invention provides a kind of cage guide surface abrasion degree detection device based on computer vision, institute
Stating device includes：
Laser projecting apparatus needs to project controllable striation to cage guide surface formation characteristic point according to measurement；
Video camera shoots the image about cage guide surface characteristics point；
Control process unit, handles image, and extraction obtains the corresponding pixel coordinate of characteristic point；It is obtained by calibration
Conversion parameter, and the pixel coordinate for the characteristic point extracted is converted to according to conversion parameter the space coordinate of the point, complete electricity
The Space Reconstruction of terraced guide rail；The three-dimensional configuration of cage guide is obtained by Space Reconstruction, judges cage guide surface abrasion degree.
On the other hand further, the control process unit include image processing module to image denoising, binaryzation at
Geometric distortion caused by diffraction, image motion in reason removal optical system, electronic imaging system sensor, signals transmission
Noise jamming.
On the other hand further, the control process unit includes that extraction module extracts to obtain the corresponding pixel of characteristic point
Coordinate, using sub-pix Corner Detection principle, when a window slides on the image, if being in smooth region, window is each
Direction does not change, if being in corner point, window changes in all directions, passes through the variation journey of window in all directions
Degree, decides whether as angle point, and the angle point extracted is one of the characteristic point on cage guide surface, and all characteristic points constitute electricity
The configuration of surface of terraced guide rail.
On the other hand further, the control process unit includes that demarcating module carries out camera calibration and line-structured light
The calibration of optical plane obtains the internal reference of camera and outer ginseng by camera calibration, according to obtained parameter, carries out pixel coordinate
Then the conversion of three system, camera coordinate system and world coordinate system coordinate systems carries out the calibration of structure light optical plane, right
The parameter of optical plane is estimated, by the parametric equation of least square fitting exit plane, will be extracted by the calibration of two steps
To cage guide surface characteristics point pixel coordinate be converted to the space coordinate of the point.
On the other hand further, the conversion of three coordinate systems includes：According to pixel coordinate system and camera coordinate system
Between relational implementation 2 d-to-3 d conversion, pixel coordinate system is converted to camera coordinate system, root according to the triangle principle of similitude
According to the relational implementation three-dimensional between camera coordinate system and world coordinate system to three-dimensional conversion, camera coordinate system by rotation and
Translation is converted to world coordinate system.
Compared with prior art, the present invention advantageous effect is：Detection method due to carry out image procossing,
Discrimination is high, and measurement result is accurate.
Apparatus of the present invention are simple in structure, easy to operate, and cost of implementation is low, can large-scale promotion.
Description of the drawings
Fig. 1 is apparatus of the present invention line-structured light vision-based detection structure chart.
Fig. 2 is the flow chart of the method for the present invention.
Fig. 3 is the flow chart of the method for the present invention image procossing.
Fig. 4 is the coordinate transfer principle figure of patent three-dimensionalreconstruction of the present invention.
Fig. 5 is the elevator guidance system schematic diagram used in the embodiment of the present invention.
Fig. 6 is the cage guide structure chart used in the embodiment of the present invention.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
It is a kind of cage guide surface abrasion degree detection device based on computer vision referring to Fig. 1 embodiment of the present invention
For elevator (referring to Fig. 5 and Fig. 6, figure label 1 is T-type guide rail), device includes：Laser projecting apparatus, according to measurement needs
It projects controllable striation and forms characteristic point to cage guide surface；Video camera is shot about cage guide surface characteristics point
Image；In the present embodiment, laser projecting apparatus exports line laser using red semiconductor laser, to ensure cage guide table
The effect of face Image Acquisition adjusts the input voltage of laser, keeps laser intensity moderate.Video camera uses CCD camera, video
Capture card coordinates CCD camera to acquire cage guide surface image.
Control process unit, handles image, and extraction obtains the corresponding pixel coordinate of characteristic point；It is obtained by calibration
Conversion parameter, and the pixel coordinate for the characteristic point extracted is converted to according to conversion parameter the space coordinate of the point, complete electricity
The Space Reconstruction of terraced guide rail；The three-dimensional configuration of cage guide is obtained by Space Reconstruction, judges cage guide surface abrasion degree.
Control process unit includes image processing module to spreading out in image denoising, binary conversion treatment removal optical system
Penetrate, geometric distortion caused by image motion, electronic imaging system sensor, signals transmission noise jamming.
Control process unit includes that extraction module extracts to obtain the corresponding pixel coordinate of characteristic point, is examined using sub-pix angle point
Principle is surveyed, when a window slides on the image, if being in smooth region, window does not change in all directions, if being in angle
At point, window changes in all directions, by the variation degree of window in all directions, decides whether for angle point, to carry
The angle point got is one of the characteristic point on cage guide surface, and all characteristic points constitute the configuration of surface of cage guide.
Control process unit includes the calibration that demarcating module carries out camera calibration and line-structured light optical plane, passes through camera
Calibration obtains the internal reference of camera and outer ginseng, according to obtained parameter, carries out pixel coordinate system, camera coordinate system and the world
Then the conversion of three coordinate systems of coordinate system carries out the calibration of structure light optical plane, the parameter of aiming plane is estimated, leads to
The parametric equation for crossing least square fitting exit plane demarcates the cage guide surface characteristics point picture that will be extracted by two steps
Plain coordinate is converted to the space coordinate of the point.
A kind of cage guide surface abrasion degree detecting method based on computer vision is provided referring to Fig. 2 present invention：It is first
Cage guide surface image gatherer process is first carried out, laser projecting apparatus output voltage is adjusted to OK range, laser is opened and throws
Emitter emits line laser, projects on tested cage guide surface, is used in combination CCD camera to shoot image, referring to Fig. 3 to collecting
Typical picture handled, remove image in noise, extract image in useful signal, then select rational threshold value,
Binary conversion treatment is carried out, the high image of discrimination is obtained, the cage guide surface characteristics point extracted in striation is denoted as a little
PW。
Extraction obtains the corresponding pixel coordinate of characteristic point, including the use of sub-pix Corner Detection principle, when a window exists
It is slided on image, if being in smooth region, window does not change in all directions, if being in corner point, window is in all directions
It changes, by the variation degree of window in all directions, decides whether as angle point, the angle point extracted is elevator
One of characteristic point of guide rail surface, all characteristic points constitute the configuration of surface of cage guide.
Then it is demarcated, calibration includes the calibration of camera calibration and line-structured light optical plane, is obtained by camera calibration
Internal reference to camera and outer ginseng carry out pixel coordinate system, camera coordinate system and world coordinate system according to obtained parameter
Then the conversion of three coordinate systems carries out the calibration of structure light optical plane, the parameter of aiming plane is estimated, minimum is passed through
Square law is fitted the parametric equation of exit plane, and the cage guide surface characteristics point pixel coordinate that will be extracted is demarcated by two steps
Be converted to the space coordinate of the point.
Wherein camera calibration makes gridiron pattern scaling board, scaling board is rotated, and the position for shooting lower ten kinds of different angles is used
In calibration, camera internal reference and outer ginseng are obtained, cage guide is restored using the transformational relation of obtained parameter and three kinds of coordinate systems
The space coordinate of surface characteristics point, the degree of wear on the space coordinate reaction cage guide surface of cage guide surface characteristics point.
The conversion of three coordinate systems includes：It is arrived according to the relational implementation two dimension between pixel coordinate system and camera coordinate system
Three-dimensional conversion, pixel coordinate system is converted to camera coordinate system according to the triangle principle of similitude, according to camera coordinate system and generation
To three-dimensional conversion, camera coordinate system is converted to world coordinates by rotating and translating for relational implementation three-dimensional between boundary's coordinate system
System.
Referring to Fig. 4, world coordinate system to camera coordinate system is the conversion of three-dimensional to three-dimensional, and transformational relation is as follows:
XC=R1X+t1 (1)
YC=R2Y+t2 (2)
ZC=R3Z+t3 (3)
Wherein, R1、R2、R3Indicate the rotating vector on three directions；t1、t2、t3Indicate the translation vector on three directions；
(X, Y, Z) indicates position of the P points in world coordinate system；(XC,YC,ZC) indicate position of the P points in camera coordinate system.
Camera coordinate system is that three-dimensional arrives two-dimensional conversion to pixel coordinate system, and transformational relation is as follows:
(XC,YC,ZC)→(x,y) (4)
X=fXC (5)
Y=fYC (6)
Wherein, f is focal length of camera, and (x, y) indicates position of the P points in pixel coordinate system.
According to above-mentioned transformational relation, if cage guide surface characteristics point PWThe formed picture point P=in pixel coordinate system Ouv
(x, y), corresponding homogeneous coordinatesCage guide surface characteristics point PWThere is=MP with picture point PW=K (Rt) PW's
Mathematical relationship, wherein M are video camera projection matrix, are made of the inside and outside parameter of video camera, matrix K is camera intrinsic parameter square
Battle array, R and vector t are external parameters of cameras, cage guide surface characteristics point PWOn line-structured light optical plane, according to image-forming principle
A ray equation can be determined at a distance from tested guide rail surface characteristics point by picpointed coordinate, focal length and video camera, and should
Ray passes through guide rail surface characteristic point PW, then guide rail surface can be uniquely determined by the ray equation and structure light optic plane equations
Characteristic point PWSpace coordinate, the three-dimensional configuration of cage guide is restored finally by the space coordinate that has obtained, judges guide rail surface
The degree of wear.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
Claims (10)
1. a kind of cage guide surface abrasion degree detecting method based on computer vision, which is characterized in that the method packet
It includes：
It needs to project controllable striation according to measurement by laser projecting apparatus and forms characteristic point to cage guide surface；
The image about cage guide surface characteristics point is shot, then image is handled, it is corresponding that extraction obtains characteristic point
Pixel coordinate；
Conversion parameter is obtained by calibration, and the pixel coordinate for the characteristic point extracted is converted by the point according to conversion parameter
Space coordinate completes the Space Reconstruction of cage guide；
The three-dimensional configuration of cage guide is obtained by Space Reconstruction, judges cage guide surface abrasion degree.
2. according to the method for claim 1, which is characterized in that described image processing includes image denoising, binary conversion treatment
Remove the diffraction in optical system, geometric distortion caused by image motion, electronic imaging system sensor, signals transmission
Noise jamming.
3. according to the method described in claim 1, it is characterized in that, the extraction obtains the corresponding pixel coordinate packet of characteristic point
It includes：Using sub-pix Corner Detection principle, when a window slides on the image, if being in smooth region, window is in each side
To not changing, if being in corner point, window changes in all directions, passes through the variation journey of window in all directions
Degree, decides whether as angle point, and the angle point extracted is one of the characteristic point on cage guide surface, and all characteristic points constitute electricity
The configuration of surface of terraced guide rail.
4. according to the method described in claim 1, it is characterized in that, the calibration includes that camera calibration and line-structured light light are flat
The calibration in face obtains the internal reference of camera and outer ginseng by camera calibration, according to obtained parameter, carries out pixel coordinate system, takes the photograph
Then the conversion of three coordinate systems of camera coordinate system and world coordinate system carries out the calibration of structure light optical plane, flat to light
The parameter in face estimated, by the parametric equation of least square fitting exit plane, will be extracted by the calibration of two steps
Cage guide surface characteristics point pixel coordinate is converted to the space coordinate of the point.
5. according to the method described in claim 4, it is characterized in that, the conversion of three coordinate systems includes：According to pixel coordinate
The conversion of relational implementation 2 d-to-3 d between system and camera coordinate system, pixel coordinate system are converted to according to the triangle principle of similitude
Camera coordinate system, according to the relational implementation three-dimensional between camera coordinate system and world coordinate system to three-dimensional conversion, video camera
Coordinate system is converted to world coordinate system by rotating and translating.
6. a kind of cage guide surface abrasion degree detection device based on computer vision, which is characterized in that described device packet
It includes：
Laser projecting apparatus needs to project controllable striation to cage guide surface formation characteristic point according to measurement；
Video camera shoots the image about cage guide surface characteristics point；
Control process unit, handles image, and extraction obtains the corresponding pixel coordinate of characteristic point；It is converted by calibration
Parameter, and the pixel coordinate for the characteristic point extracted is converted to according to conversion parameter the space coordinate of the point, it completes elevator and leads
The Space Reconstruction of rail；The three-dimensional configuration of cage guide is obtained by Space Reconstruction, judges cage guide surface abrasion degree.
7. device according to claim 6, which is characterized in that the control process unit includes image processing module to figure
As the diffraction in denoising, binary conversion treatment removal optical system, geometric distortion caused by image motion, electronic imaging system sensing
The noise jamming of device, signals transmission.
8. device according to claim 6, which is characterized in that the control process unit includes that extraction module extracts to obtain
The corresponding pixel coordinate of characteristic point, using sub-pix Corner Detection principle, when a window slides on the image, if in smooth
Region, window do not change in all directions, if being in corner point, window changes in all directions, by window each
Variation degree on a direction decides whether that as angle point, the angle point extracted is one of the characteristic point on cage guide surface,
All characteristic points constitute the configuration of surface of cage guide.
9. device according to claim 6, which is characterized in that the control process unit includes that demarcating module carries out camera
Calibration and the calibration of line-structured light optical plane, obtain the internal reference of camera and outer ginseng, according to obtained ginseng by camera calibration
Number carries out the conversion of three pixel coordinate system, camera coordinate system and world coordinate system coordinate systems, then carries out structure light
The parameter of the calibration of optical plane, aiming plane is estimated, by the parametric equation of least square fitting exit plane, passes through
Two steps demarcate the space coordinate that the cage guide surface characteristics point pixel coordinate extracted is converted to the point.
10. device according to claim 9, which is characterized in that the conversion of three coordinate systems includes：According to pixel coordinate
The conversion of relational implementation 2 d-to-3 d between system and camera coordinate system, pixel coordinate system are converted to according to the triangle principle of similitude
Camera coordinate system, according to the relational implementation three-dimensional between camera coordinate system and world coordinate system to three-dimensional conversion, video camera
Coordinate system is converted to world coordinate system by rotating and translating.
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| CN109751980A (en) * | 2019-01-22 | 2019-05-14 | 南京理工大学 | Wave height measurement method based on monocular vision laser triangulation |
| CN110030960A (en) * | 2019-05-07 | 2019-07-19 | 中国铁道科学研究院集团有限公司 | Steel-aluminum conductor rail wear detecting system and method |
| CN111664808A (en) * | 2020-05-09 | 2020-09-15 | 洛阳矿山机械工程设计研究院有限责任公司 | Crusher lining plate detection method based on contour scanning |
| CN112158693A (en) * | 2020-09-15 | 2021-01-01 | 福建省特种设备检验研究院泉州分院 | Detection method for elevator guide rail parameters |
| CN112857249A (en) * | 2019-11-28 | 2021-05-28 | 株洲中车时代电气股份有限公司 | Calibration method and device for contact net detection equipment |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116659419A (en) * | 2023-07-28 | 2023-08-29 | 成都市特种设备检验检测研究院(成都市特种设备应急处置中心) | Elevator guide rail parameter measuring device and method |
| CN116659419B (en) * | 2023-07-28 | 2023-10-20 | 成都市特种设备检验检测研究院(成都市特种设备应急处置中心) | Elevator guide rail parameter measuring device and method |
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Application publication date: 20180814 |
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