CN115560700B - Icing three-dimensional shape online measurement method based on color polarization imaging - Google Patents
Icing three-dimensional shape online measurement method based on color polarization imaging Download PDFInfo
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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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
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- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
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Abstract
The invention relates to the technical field of ice shape measurement, and provides an icing three-dimensional shape online measurement method based on color polarization imaging. Performing multi-channel separation on a calibration plate image acquired by a color polarization camera to obtain a multi-channel image, wherein the multi-channel image comprises different colors and different polarization states; then, respectively processing the multi-channel images, extracting laser lines and then resolving three-dimensional coordinates of the laser lines; carrying out plane fitting on the three-dimensional coordinates of the laser lines of each channel; then, calculating the laser line three-dimensional coordinates of each channel obtained by on-line measurement based on the calibrated plane fitting result of the laser line of each channel; and finally, unifying the three-dimensional coordinates of the laser lines of all the channels into a world coordinate system, thereby obtaining a complete ice-shaped three-dimensional profile. The icing three-dimensional shape online measuring method can improve the definition of an icing shooting image and improve the measuring precision.
Description
Technical Field
The invention relates to the technical field of ice shape measurement, in particular to an icing three-dimensional shape online measurement method based on color polarization imaging.
Background
Researches find that icing phenomenon in the flight process is one of main causes of airplane flight safety. Icing at different parts of the airplane can cause influence in different degrees, for example, icing at wings and the tail of the airplane can cause change of a turbulent flow field, so that aerodynamic performance, maneuverability and stability of the airplane are seriously influenced; icing of the engine inlet may cause the engine to stall, compromising flight safety. Therefore, the method has important significance in exploring the icing mechanism, evaluating the aerodynamic performance and safety of the aircraft under the icing meteorological condition, and carrying out research works such as ice prevention and removal and the like. In order to explore the icing mechanism and perform researches such as aircraft aerodynamic performance evaluation under icing meteorological conditions, researchers need to measure and research the icing appearance of a flight component under different meteorological environments. There are mainly 3 ways to obtain the icing profile: carrying out numerical simulation calculation; carrying out flight test; and (5) performing ground simulation test. The ground simulation test is a main means for acquiring the icing appearance due to low cost and capability of obtaining quantitative results. The ground simulation test is usually performed in an icing wind tunnel. The refined icing three-dimensional shape information has important value for improving the calculation accuracy of the airplane aerodynamic force CFD under the icing condition. Therefore, there is an urgent need for a method that can be used for on-line three-dimensional measurement of ice shape during ice growth.
Scholars at home and abroad try to carry out semi-online measurement on the ice cross section outline and the three-dimensional shape by adopting a three-dimensional scanner non-contact measurement method based on surface structured light, but because the reflection coefficient and the transmission coefficient of an ice surface are low and high, a dark coating needs to be sprayed on the ice surface to obtain a high-contrast coding pattern image, so that the application range of the measurement method is greatly limited, and the method cannot be used for online measurement.
Compared with the coding stripes projected by a projector, the line laser projected by the laser has the advantages of concentrated brightness, high image contrast and the like, is widely applied to the field of industrial three-dimensional measurement, and can obtain a better observation image without spraying dark paint on the frozen surface. A series of research works and a series of exploratory experiments conducted by later students prove the feasibility of the laser triangulation method in the surface profile measurement of the icing model and the advantages of the laser triangulation method over the traditional ice shape measurement method.
However, the reflectance of the ice is very low over the entire recorded spectral range, and in the visible range, only less than 2% of the incident light is reflected at the object plane. Because the transparency of the ice is high and the surface is smooth, the line laser is projected on the surface of the ice, most light rays are projected into the ice, only a small part of the light rays are reflected by the surface of the ice, so that the laser band area of the collected image is seriously diffused and is a bright spot area on the image, and the camera is difficult to obtain clear light bar patterns, so that the measurement precision is low, and the ice-shaped structure cannot be accurately obtained.
Patent CN201910943972.7 discloses a polarization imaging-based ice shape three-dimensional measurement method, which uses a polarization camera to filter out the influence of scattered stray light, thereby performing ice shape three-dimensional measurement. However, in practice, it is found that although the method can improve the definition of the obtained light bar to a certain extent, the clear light bar still cannot be obtained when the open ice is measured in three dimensions, and the problem that the measurement precision is low and the ice-shaped structure cannot be accurately obtained still exists.
Disclosure of Invention
In order to solve the defects in the prior art, the icing three-dimensional shape online measuring method is characterized in that a color polarization camera is adopted to perform online measurement on the icing three-dimensional shape, a shot laser line image is separated into 4H channel images, the images of each channel are processed independently, after the laser lines are extracted, the three-dimensional coordinates of the laser lines are respectively calculated and then are combined and unified into the same world coordinate system, and therefore a clear three-dimensional ice shape outline is obtained.
The application provides an icing three-dimensional shape online measuring method based on color polarization imaging, which comprises the following steps:
s00, calibrating the color polarization camera;
s01, placing the calibration plate at the j-th pose, projecting laser sheet light to the surface of the calibration plate by the line laser to form a laser line, and acquiring an image of the calibration plate at the j-th pose by using a color polarization camera;
the color filter array of the color polarization camera is in a Bayer format, and H polarization filter arrays in different directions are superposed on each color filter;
s02. Let j = j +1, repeat step S01, j =1,2, ·, M; m is the total pose number of the calibration plate;
s03, separating each acquired calibration board image into 4H channel images;
s04, respectively calibrating all calibration plate images based on each channel to obtain camera internal reference matrixes corresponding to different channels, rotation matrixes and translation vectors between camera coordinate systems of different channels and calibration plate coordinate systems of different poses, and rotation matrixes and translation vectors between camera coordinate systems of different channels and a world coordinate system;
s05, extracting laser lines from all the calibration plate images of each channel, and resolving to obtain three-dimensional coordinates of the laser lines;
s06, performing plane fitting on the three-dimensional coordinates of the laser line of each channel to obtain a plane equation coefficient (a) of the laser sheet light under each channel i ，b i ，c i ) Wherein i =1,2, …, N; i is a channel number, and N =4H;
s07, controlling the line laser to rotate and scan, and repeating the steps S00-S06 at each rotating position to obtain the plane equation coefficient of the laser sheet light under each channel at different rotating positions
，l=1，2，…，L；lIs the line laser rotational position and L is the total number of rotational positions.
Further, in step S05, a specific algorithm for calculating the three-dimensional coordinate of the laser line is as follows:
wherein, the first and the second end of the pipe are connected with each other,
is the three-dimensional coordinate of the kth point on the laser line on the surface of the calibration plate at the jth pose under the camera coordinate system corresponding to the ith channel image,
is the three-dimensional coordinate of the kth point on the laser line on the surface of the calibration plate at the jth pose under the coordinate system of the calibration plate at the jth pose,
the coordinate of the kth point on the laser line of the surface of the calibration plate at the jth pose in the ith channel image of the calibration plate at the jth pose is determined,
is a proportionality coefficient, A i For calibrating the camera internal reference matrix corresponding to the ith channel image,
and
a rotation matrix and a translation vector between a camera coordinate system corresponding to the ith channel image and a calibration plate coordinate system of the jth pose are obtained;
s10, icing measurement is carried out;
s11, restoring the line laser to a calibrated initial position, controlling the line laser to rotate, enabling the laser line projected to the icing surface to scan the icing, and synchronously triggering a color polarization camera to acquire a laser line image of the icing surface at each calibrated rotating position;
s12, separating the laser line images at all the rotating positions into 4H channel images;
s13, extracting laser lines from the laser line images of all the channels at each rotating position to obtain two-dimensional image coordinates of the laser lines, and resolving to obtain three-dimensional coordinates of the laser lines under a camera coordinate system of each channel based on the calibrated camera internal reference matrix corresponding to each channel at the rotating position and the plane equation coefficient of the laser sheet light to obtain an ice-shaped three-dimensional profile:
wherein the content of the first and second substances,
is as followslThree-dimensional coordinates of the kth point on the laser line of each rotation position in the camera coordinate system corresponding to the ith channel image，
Is as followslThe corresponding two-dimensional image coordinates of the k point on the laser line of each rotation position,
is a proportionality coefficient, A i Calibrating a camera internal reference matrix corresponding to the ith channel image;
and S14, unifying the ice-shaped three-dimensional profiles obtained by resolving different channels into the same world coordinate system based on the calibrated rotation matrix and translation vector between the camera coordinate system corresponding to each channel and the world coordinate system at different rotation positions to obtain a complete ice-shaped three-dimensional profile.
Compared with the prior art, the icing three-dimensional shape online measuring method based on the color polarization imaging at least has the following beneficial effects:
(1) According to the method and the device, the images acquired by the color polarization camera are separated, processed respectively and then combined, so that the characteristic information can be extracted respectively for processing by utilizing the reaction characteristics of light and ice in different colors and different polarization states, the ice shooting effect is improved, and the definition of the shot images is improved;
(2) The method can finish multiple measurements after once calibration, is simple and easy to implement on-line measurement, has high speed and high precision, and is very suitable for on-line ice shape measurement of open ice and mixed ice.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention or the description of the prior art will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flowchart of a calibration method of a color polarization camera according to embodiment 1;
FIG. 2 is a schematic diagram showing an image format of the color polarization camera of embodiment 1;
FIG. 3 is a schematic view of an image separated by the polarization state of FIG. 2 in example 1;
FIG. 4 is a schematic diagram of an image separated by color channels from the image of FIG. 3 in the 90 ° polarization state in example 1;
fig. 5 is a schematic flow chart of an icing three-dimensional shape online measurement method based on color polarization imaging in embodiment 1.
Detailed Description
The following description provides many different embodiments, or examples, for implementing different features of the invention. The particular examples set forth below are illustrative only and are not intended to be limiting.
Example 1
An icing three-dimensional shape online measurement method based on color polarization imaging is shown in fig. 5, and comprises the following steps: s00, calibrating the color polarization camera; namely, the camera is calibrated first, as shown in fig. 1, the camera calibration includes the following steps:
s01, placing the calibration plate at the j-th pose, projecting laser sheet light to the surface of the calibration plate by the line laser to form a laser line, and acquiring an image of the calibration plate at the j-th pose by using a color polarization camera;
the color filter array of the color polarization camera is in a Bayer format, and H polarization filter arrays in different directions are superposed on each color filter;
s02. Let j = j +1, repeat step S01, j =1,2,. Once, M; and M is the total pose number of the calibration plate.
The Bayer format is RGGB, R is red, and a red filter transmits red wavelength; g is green, and a green filter transmits green wavelength; b is blue, and the blue filter transmits blue wavelengths. In this embodiment, each color filter is superimposed with 4 polarization filter arrays in different directions, which are polarization filters of 0 °,45 °,90 °, and 135 °, respectively, and the image format of the formed color polarization camera is as shown in fig. 2. In this embodiment, the pose of the calibration board is greater than or equal to 2.
S03, separating each acquired calibration board image into 4H channel images;
in this step, each of the calibration plate images acquired in steps S01 and S02 is subjected to multi-pass separation, specifically, as shown in fig. 2 to 4.
Firstly, separation is performed according to polarization states, 4 polarization states (i.e. H = 4) are adopted in this embodiment, and taking an image in a certain pose as an example, four images are separated according to polarization states of 0 °,45 °,90 °, and 135 °, as shown in fig. 3;
secondly, further separating the images of each polarization state according to the color channels to obtain the images of the following 16 channels: r channel image at 0 degree polarization state, G at 0 degree polarization state 1 Channel image, G at 0 ° polarization 2 A channel image, a B channel image in a 0-degree polarization state;
r channel image at 45 ° polarization, G at 45 ° polarization 1 Channel image, G at 45 ° polarization 2 A channel image, a B channel image in a 45-degree polarization state;
r channel image in 90 ° polarization state, G in 90 ° polarization state 1 Channel image, G at 90 ° polarization 2 Channel image, B channel image in 90 ° polarization state, as shown in fig. 4;
r channel image at 135 ° polarization, G at 135 ° polarization 1 Channel image, G at 135 ° polarization 2 Channel image, B-channel image in 135 ° polarization state.
After the images of 16 channels are obtained, the 16 images are respectively subjected to interpolation demosaicing processing to improve the resolution of the images, and a specific method is the prior art in the field and is not described herein any more, so that a complete image of 16 channels can be obtained.
S04, respectively calibrating all calibration board images based on each channel to obtain camera internal reference matrixes A corresponding to different channels i Rotation matrix between different channel camera coordinate systems and different pose calibration plate coordinate systems
And translation vector
(ii) a Wherein i is the number of channels;
in this step, rotation matrixes between the coordinate systems of the cameras of different channels and the world coordinate system need to be acquired simultaneously
And translation vector
And the device is convenient to use in the subsequent measurement process.
Preferably, a Zhang Zhengyou calibration method is adopted for calibration, and since the Zhang Zhengyou calibration method is the prior art, the details are not described herein;
s05, extracting laser lines from all the calibration plate images of each channel, and resolving to obtain three-dimensional coordinates of the laser lines: preferably, the steger algorithm is used for laser line extraction, which is not described herein.
Wherein the content of the first and second substances,
is the three-dimensional coordinate of the kth point on the laser line on the surface of the calibration plate at the jth pose under the camera coordinate system corresponding to the ith channel image,
is the three-dimensional coordinate of the kth point on the laser line on the surface of the calibration plate at the jth pose under the coordinate system of the calibration plate at the jth pose,
setting a two-dimensional image of a k point on a laser line on the surface of the calibration plate in the j position on the ith channel image of the calibration plate in the j positionThe target is a number of items,
is a scale factor.
S06, performing plane fitting on the three-dimensional coordinates of the laser line of each channel, preferably performing plane fitting by using a least square method, and obtaining a plane equation coefficient (a) of the laser sheet light under each channel i ，b i ，c i ) Wherein i =1,2, …, N; i is a channel number, and N =4H;
this yields the plane equation for the 16-channel laser sheet:
wherein x, y and z are axes of a space rectangular coordinate system;
s07, controlling the line laser to rotate and scan, repeating the steps S00-S06 at each rotating position, and obtaining the plane equation coefficient of the laser sheet light under each channel at different rotating positions
，l=1，2，…，L；lIs the line laser rotational position and L is the total number of rotational positions.
In the rotation process of the line laser, an initial position can be set, and the line laser starts to rotate from the initial position every time of calibration and/or measurement, or starts from any rotation position without setting the initial position until the calibration and measurement of all rotation positions are completed.
And starting to carry out icing measurement after the camera is calibrated. It should be noted that camera calibration is not required before each icing measurement, and those skilled in the art will appreciate that multiple icing measurements may be taken after the camera has been calibrated under the same conditions.
The step of icing measurement comprises:
s11, restoring the line laser to a calibrated initial position, controlling the line laser to rotate, enabling the laser line projected to the icing surface to scan the icing, and synchronously triggering a color polarization camera to acquire a laser line image of the icing surface at each calibrated rotating position;
in the step, the line laser starts scanning from a calibrated initial position, rotates within the scanning range of the laser, completes scanning of all calibrated positions, and shoots laser line images of all calibrated positions.
S12, separating the laser line images at all the rotating positions into 4H channel images;
in this step, the laser line image separation method of each channel is the same as the image separation method of each channel when the camera is calibrated, and details are not described herein, but it should be noted that, in the measurement process, the selected polarization state should be the same as the polarization state selected when the camera is calibrated, so that the measurement accuracy can be ensured.
S13, extracting laser lines from the laser line images of all the channels at all the rotating positions to obtain two-dimensional image coordinates of the laser lines
Based on the calibrated camera internal reference matrix A corresponding to each channel at the rotation position i And the plane equation coefficient of the laser sheet
Resolving to obtain three-dimensional coordinates of the laser lines under the camera coordinate system of each channel to obtain an ice-shaped three-dimensional profile:
wherein the content of the first and second substances,
is as followslThe three-dimensional coordinates of the kth point on the laser line of each rotation position in the camera coordinate system corresponding to the ith channel image,
is a firstlLaser line of a rotating positionThe coordinates of the corresponding two-dimensional image of the k-th point,
is a proportionality coefficient, A i Calibrating a camera internal reference matrix corresponding to the ith channel image;
s14, based on the rotation matrix between the camera coordinate system and the world coordinate system corresponding to each channel under different calibrated rotation positions
And translation vector
Unifying the ice-shaped three-dimensional profiles obtained by resolving different channels into the same world coordinate system to obtain a complete ice-shaped three-dimensional profile:
wherein the content of the first and second substances,
is as followsiIce-shaped three-dimensional profile obtained by resolving individual channelkIs spotted oniThree-dimensional coordinates in a camera coordinate system corresponding to the channel images,
the three-dimensional coordinates of the kth point in the ice-shaped three-dimensional contour under the unified world coordinate system are obtained.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. An icing three-dimensional shape online measurement method based on color polarization imaging is characterized by comprising the following steps:
s00, calibrating the color polarization camera;
s01, placing the calibration plate at the j-th pose, projecting laser sheet light to the surface of the calibration plate by the line laser to form a laser line, and acquiring an image of the calibration plate at the j-th pose by using a color polarization camera;
the color filter array of the color polarization camera is in a Bayer format, and H polarization filter arrays in different directions are superposed on each color filter;
s02. Let j = j +1, repeat step S01 until j = M; j =1,2, · M; m is the total pose number of the calibration plate;
s03, separating each acquired calibration board image into 4H channel images;
s04, respectively calibrating based on all calibration plate images of each channel to obtain camera internal reference matrixes corresponding to different channels, rotation matrixes and translation vectors between camera coordinate systems of different channels and calibration plate coordinate systems of different poses, and rotation matrixes and translation vectors between camera coordinate systems of different channels and a world coordinate system;
s05, extracting laser lines from all the calibration plate images of each channel, and resolving to obtain three-dimensional coordinates of the laser lines;
s06, performing plane fitting on the three-dimensional coordinates of the laser line of each channel to obtain a plane equation coefficient (a) of the laser sheet light under each channel i , b i , c i ) Wherein i =1,2, …, N; i is a channel number, and N =4H;
s07, controlling the line laser to rotate and scan, and repeating the steps S00-S06 at each rotating position to obtain the plane equation coefficient of the laser sheet light under each channel at different rotating positions
，l=1，2，…，L；lIs the rotation position of the line laser, and L is the total number of the rotation positions;
s10, icing measurement is carried out;
s11, restoring the line laser to a calibrated initial position, controlling the line laser to rotate, enabling the laser line projected to the icing surface to scan the icing, and synchronously triggering a color polarization camera to acquire a laser line image of the icing surface at each calibrated rotating position;
s12, separating the laser line images at all the rotating positions into 4H channel images;
s13, extracting laser lines from the laser line images of all the channels at each rotating position to obtain two-dimensional image coordinates of the laser lines, and resolving to obtain three-dimensional coordinates of the laser lines under a camera coordinate system of each channel based on the calibrated camera internal reference matrix corresponding to each channel at the rotating position and the plane equation coefficient of the laser sheet light to obtain an ice-shaped three-dimensional profile:
wherein the content of the first and second substances,
is as followslThe three-dimensional coordinates of the kth point on the laser line of each rotation position in the camera coordinate system corresponding to the ith channel image,
is as followslThe corresponding two-dimensional image coordinates of the k point on the laser line of each rotation position,
is a proportionality coefficient, A i Calibrating a camera internal reference matrix corresponding to the ith channel image;
and S14, unifying the ice-shaped three-dimensional profiles obtained by resolving different channels into the same world coordinate system based on the calibrated rotation matrix and translation vector between the camera coordinate system corresponding to each channel and the world coordinate system at different rotation positions to obtain a complete ice-shaped three-dimensional profile.
2. The icing three-dimensional shape online measuring method based on color polarization imaging according to claim 1, wherein the 4H channel image comprises: r color H polarization channel, G1 color H polarization channel, G2 color H polarization channel, B color H polarization channel, H = 1.
3. The method for on-line measurement of three-dimensional ice formation appearance based on color polarization imaging as claimed in claim 2, wherein H =4.
4. The method as claimed in claim 3, wherein the 4 polarizing filter arrays with different directions comprise filters arranged at 0 °,45 °,90 °,135 °.
5. The icing three-dimensional shape online measuring method based on color polarization imaging according to any one of claims 1 to 4, wherein in the step S05, a specific algorithm for calculating the three-dimensional coordinates of the laser line is as follows:
wherein the content of the first and second substances,
is the three-dimensional coordinate of the kth point on the laser line on the surface of the calibration plate at the jth pose under the camera coordinate system corresponding to the ith channel image,
is the three-dimensional coordinate of the kth point on the laser line on the surface of the calibration plate at the jth pose under the coordinate system of the calibration plate at the jth pose,
the coordinate of the k point on the laser line on the surface of the calibration plate in the j pose in the ith channel image of the calibration plate in the j pose is calibrated,
is a proportionality coefficient, A i For calibrating the camera internal reference matrix corresponding to the obtained ith channel image,
and
and a rotation matrix and a translation vector between a camera coordinate system corresponding to the ith channel image and a calibration board coordinate system of the jth pose are obtained.
6. The method for on-line measurement of the three-dimensional icing shape based on the color polarization imaging as claimed in claim 1, wherein in step S04, a Zhang Zhengyou calibration method is adopted for calibration.
7. The method for on-line measurement of three-dimensional icing shape based on color polarization imaging as claimed in claim 1, wherein in step S03 and step S12, after the 4H channel images are separated, interpolation demosaicing processing is performed on each channel image.
8. The method for on-line measurement of three-dimensional icing shape based on color polarization imaging as claimed in claim 1, wherein a steger algorithm is used for laser line extraction.
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