CN108205817A - Obtain the methods, devices and systems of target surface - Google Patents

Abstract

The invention discloses a kind of methods, devices and systems for obtaining target surface.Wherein, this method includes：The image that acquisition is incident upon on target surface and is generated by light, image include：Multiple bright fringes, wherein, light is the emergent ray that two default light sources are sent out, and is alternatively arranged respectively from the bright fringes of two default light sources；Multiple target points are taken from the bright fringes in image；The coordinate value of multiple target points is obtained, and target surface is obtained according to the coordinate value of multiple target points；The volume of balloonet is determined according to target surface.The present invention is solved in the prior art when using the state of binocular camera shooting machine monitoring dirigible balloonet, the technical issues of causing accuracy low due to the registration difficulty height of binocular camera.

Description

Method, device and system for obtaining target surface

technical field

The present invention relates to the field of airships, in particular to a method, device and system for acquiring a target curved surface.

Background technique

The auxiliary airbag is an essential part of the airship. Through the inflation and deflation of the auxiliary airbag, the air pressure and aerodynamic shape of the entire airship can be maintained at different temperatures, thereby ensuring the long-term continuous floating ability of the airship. Therefore, in the airship In design practice, it is necessary to monitor the state of the auxiliary airbag at all times. Due to the characteristics of the overall structure of the auxiliary airbag, it can only be monitored by non-contact methods.

The existing airship auxiliary airbag monitoring method is based on the three-dimensional reconstruction method, using laser three-dimensional scanning method or three-dimensional reconstruction based on binocular stereo vision. Three-dimensional reconstruction is a highly feasible method, but the use of The cost of laser 3D scanning in the laser 3D scanning method is too high. When stereo reconstruction based on binocular stereo vision is performed, the binocular camera needs to be calibrated in advance, which is difficult to calibrate, and it is difficult to ensure binocular vision due to the complex airflow in the capsule. The necessary stable state, so the accuracy of stereo vision cannot reach the standard at a distance of more than 25m.

In the prior art, when binocular cameras are used to monitor the state of airship auxiliary airbags, due to the high difficulty of binocular camera registration resulting in low accuracy, no effective solution has been proposed yet.

Contents of the invention

Embodiments of the present invention provide a method, device and system for obtaining a target curved surface, to at least solve the problem of high accuracy due to the high registration difficulty of binocular cameras when binocular cameras are used to monitor the state of airship auxiliary airbags in the prior art. Low technical issues.

According to an aspect of an embodiment of the present invention, there is provided a method for acquiring a target curved surface, including: collecting an image generated by projecting light on the target curved surface, the image includes: a plurality of bright stripes, wherein the light is two preset The outgoing light from the light source comes from the bright stripes of two preset light sources arranged at intervals; multiple target points are taken from the bright stripes in the image; the coordinate values of multiple target points are obtained, and according to the coordinate values of multiple target points Obtain the target surface; determine the volume of the auxiliary airbag according to the target surface.

According to another aspect of the embodiments of the present invention, there is also provided a device for acquiring a curved surface of a target, including: a collection module, configured to collect an image generated by projecting light on the curved surface of the target, the image includes: a plurality of bright stripes, wherein , the light is the outgoing light from two preset light sources, and the bright stripes from the two preset light sources are arranged at intervals; the first acquisition module is used to obtain multiple target points from the bright stripes in the image; the second acquisition module , used to acquire the coordinate values of multiple target points, and acquire the target surface according to the coordinate values of the multiple target points; the determining module is used to determine the volume of the auxiliary airbag according to the target curved surface.

According to yet another aspect of the embodiments of the present invention, there is also provided a system for acquiring a curved surface of a target, including: two preset light sources, used for emitting outgoing rays; an image acquisition device, used for collecting The image generated above, the image includes: a plurality of bright stripes, the target surface is the surface of the airship auxiliary airbag; the controller, connected with the image acquisition device, is used to take multiple target points from the bright stripes in the image; acquire multiple The coordinate value of the target point is used to obtain the target surface according to the coordinate values of the multiple target points; and the volume of the airship auxiliary airbag is determined according to the target surface.

In the embodiment of the present invention, the image generated by the projection of light on the target surface is collected, multiple target points are taken from the bright stripes in the image, the coordinate values of multiple target points are obtained, and according to the coordinates of multiple target points The value gets the target surface and determines the volume of the side airbag based on the target surface. The above solution has strong environmental applicability. Even if the attitude of the light source and camera changes greatly during use, no calibration is required, and the status of the auxiliary airbag can be effectively monitored, and the monitoring accuracy can meet actual needs.

Description of drawings

The accompanying drawings described here are used to provide a further understanding of the present invention and constitute a part of the application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations to the present invention. In the attached picture:

Fig. 1 is a flow chart of a method for acquiring a target curved surface according to an embodiment of the present invention;

Fig. 2 is a schematic distribution diagram of an optional preset light source and a camera according to an embodiment of the present invention;

Fig. 3 is a schematic diagram of an image collected by an optional camera according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of an optional acquisition of target point coordinates according to an embodiment of the present invention;

5 is a schematic structural diagram of an apparatus for acquiring a target curved surface according to an embodiment of the present invention; and

Fig. 6 is a schematic structural diagram of a system for acquiring a target curved surface according to an embodiment of the present invention.

Detailed ways

In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is an embodiment of a part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the invention described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or device comprising a sequence of steps or elements is not necessarily limited to the expressly listed instead, may include other steps or elements not explicitly listed or inherent to the process, method, product or apparatus.

Example 1

According to an embodiment of the present invention, an embodiment of a method for obtaining a target curved surface is provided. It should be noted that the steps shown in the flow chart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and, Although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that shown or described herein.

Fig. 1 is the flow chart of the method for obtaining target curved surface according to the embodiment of the present invention, as shown in Fig. 1, this method comprises the following steps:

Step S102, collect the image generated by the light projected on the target surface, the image includes: a plurality of bright stripes, wherein the light is the outgoing light from two preset light sources, and the bright stripes from the two preset light sources are arranged at intervals .

Specifically, the above-mentioned target curved surface is the surface of the auxiliary airbag of the airship that needs to be monitored. In the above-mentioned steps, images containing bright stripes can be collected by the camera.

In an optional embodiment, the above-mentioned bright stripes can be obtained by beam-splitting and modulating the outgoing light of the preset light source. Since the outgoing light of the preset light source is beam-splitting and modulated, bright and dark lines arranged at intervals will be obtained. The bright and dark lines will form bright stripes on the surface of the auxiliary airbag, and then the camera is used to collect the image formed by the bright stripes.

Step S104, taking a plurality of target points from the bright stripes in the image.

Specifically, the above target points are used to determine the target curved surface.

What needs to be explained here is that the spacing of multiple bright stripes is different, and the density of the target points is also different. Therefore, the monitoring accuracy of the same target surface will also be affected by the spacing of multiple bright stripes and the density of the target points. . In the case of more target points obtained, the target surface obtained by monitoring is more accurate, but due to more target points, the calculation amount is also large; and in the case of less target points obtained, the target surface obtained by monitoring is not enough Accurate, but the amount of data calculation is small. Therefore, the target point can be obtained according to the actual monitoring requirements, so as to achieve the balance between the accuracy and the amount of calculation.

Step S106, acquiring the coordinate values of multiple target points, and acquiring the target curved surface according to the coordinate values of the multiple target points.

In the above steps, after the target point is determined, the coordinate values of multiple target points can be combined to obtain a target surface with a high similarity through a three-dimensional reconstruction method, and the obtained result can include functions used to represent the target surface and/or or target surface schematic.

What needs to be explained here is that the method for obtaining the target curved surface provided by the above-mentioned embodiments is suitable for environments with good adaptability, simple system construction, clear image processing, and low cost. It can be applied to the monitoring of the auxiliary airbag of the airship, and can also be applied to the production of a stereoscopic imaging camera with dual fill lights, and the application of 3D reconstruction in a darkroom environment, etc. It can play the role of three-dimensional reconstruction, stereo photography, target position monitoring, and stereo imaging reconstruction in these scenes.

It can be seen from the above that the above steps of the present application collect the image generated by the projection of light on the target surface, take multiple target points from the bright stripes in the image, and the coordinate values of multiple target points, and according to the multiple target points Coordinate values to get the target surface. The above scheme has strong environmental applicability. Even if the attitude of the preset light source and camera changes greatly during use, no calibration is required. It is suitable for obtaining variable surfaces in various scenarios, especially for monitoring the airbag inside the airship auxiliary airbag. The surface of the capsule is curved, and the monitoring accuracy can also meet the actual needs.

Optionally, according to the above-mentioned embodiment of the present application, before collecting the image generated by the light projected on the target surface in step 102, the method further includes: step S108, generating bright stripes, wherein the step of generating bright stripes includes:

Step S112, setting two preset light sources separated by a preset distance in front of the target curved surface.

Step S114 , performing beam splitting and modulation on the outgoing light from the two preset light sources, so that the outgoing light forms a plurality of bright stripes.

Specifically, the aforementioned preset light source may be a near-infrared light source, which forms a plurality of bright stripes after beam splitting and modulation.

Fig. 2 is a schematic diagram of the distribution of an optional preset light source and a camera according to an embodiment of the present invention. In an optional case, in combination with the example shown in Fig. 2, the preset light source is a near-infrared light source placed in Before the target curved surface, the first light source 1 emits the first light source split light 201 , the second light source 2 emits the second light source split light 202 , and the first light source split light 201 and the second light source split light 202 are on the target curved surface 203 With a certain overlapping coverage, the camera 3 for collecting images is located between the first light source 1 and the second light source 2, and collects bright fringes formed by outgoing light rays. On the overlapping surface of the first light source split light 201 and the second light source split light 202 on the target curved surface 203 , the bright stripes emitted by the first light source 1 and the second light source 2 are arranged at intervals.

It should be noted here that the distribution positions of the above-mentioned cameras and preset light sources are not necessarily limited to the above-mentioned embodiments. After knowing the distance between the first light source 1 and the second light source 2 and the distance between the first light source 1 and the second light source In the case of the angle between the two bright stripes and the baseline (the line connecting the first light source 1 and the second light source 2), the coordinate value of the target point can be obtained through a predetermined calculation method.

In an optional embodiment, a diffraction grating may be used to form multiple bright fringes of outgoing light.

It can be seen from the above that in the above steps of the present application, two preset light sources are arranged in front of the target surface with a preset distance, and beam-splitting modulation is performed on the outgoing light of the two preset light sources, so that the outgoing light forms bright stripes. In the above solution, a light source is set in front of the target surface, and the preset light source is beam-splitting and modulated to form an image for acquiring the target point.

Optionally, according to the above-mentioned embodiment of the present application, in step 104, multiple target points are taken from the bright stripes in the image, including:

Step S1041, taking equidistant straight lines on the collected image, wherein the straight lines intersect with multiple bright stripes.

Specifically, the above-mentioned device used for collecting images may be a camera 3. As an optional embodiment, the above-mentioned straight line may be perpendicular to the bright stripes. In the case where multiple bright stripes are vertical bright stripes, the above-mentioned straight line is a horizontal , with reference to the example shown in FIG. 2 , the camera 3 may be deployed between the first light source 1 and the second light source 2 , and at the same distance from the first light source 1 and the second light source 2 . FIG. 3 is a schematic diagram of an image collected by an optional camera 3 according to an embodiment of the present invention. The result of taking equidistant horizontal lines for the collected image may be shown in FIG. 3 . In an optional embodiment, with reference to the example shown in FIG. 3 , through beam splitting modulation, the bright stripes formed by the light source 1 and the light source 2 on the target surface are all vertical bright stripes. Take equally spaced horizontal lines on the target surface where the bright stripes are covered. The equidistant horizontal lines are parallel to the connecting line between the first light source 1 and the second light source 2 .

Step S1043, determining the intersection points of the straight line and the plurality of bright stripes as the plurality of target points.

Each horizontal line has intersection points with the bright stripes of the first light source 1 and the second light source 2, and these intersection points are target points.

It can be known from the above that the above steps of the present application obtain the target points by taking equidistant horizontal lines on the collected images.

Optionally, according to the above-mentioned embodiment of the present application, in step 106, the two preset light sources are the first light source and the second light source 2, and the method for obtaining the coordinate values of multiple target points includes:

Step S1061, the two preset light sources are the first light source 1 and the second light source 2, and the first light source 1 is determined as the origin of the two preset light sources, and the connection line between the first light source 1 and the second light source 2 is used as the first dimension, Determine the direction perpendicular to the first dimension on the preset plane as the second dimension, wherein the preset plane is a plane determined by two preset light sources and a target point C to be measured, and the target point C belongs to the second light source 2 The point on the mth bright streak that is emitted and formed on the target surface.

Step S1062, establishing a coordinate system according to the first dimension and the second dimension.

In an optional embodiment, FIG. 4 is a schematic diagram of an optional acquisition of target point coordinates according to an embodiment of the present invention. In conjunction with the example shown in FIG. 4, the origin O of the coordinate system established in this example is the position of the first light source 1, P(1,0) is the position of the second light source 2, the x-axis direction is the direction in which the first light source 1 extends to the second light source 2, and the y-axis direction is the direction between the first light source 1 and the second light source 2 The direction extending perpendicular to the x-axis direction on the plane defined by the two light sources 2 and the target point C, and the y-axis coordinate of the target point C is positive.

Step S1063, as shown in Figure 4, select the bright spots in the two bright stripes emitted by the first light source 1 adjacent to the opposite sides of the target point C in the coordinate system as the two first auxiliary points A and B, and the straight line AC and straight line BC are approximately a straight line L1; the auxiliary line passing through the origin O and auxiliary point A is L2, the auxiliary line passing through the origin O and auxiliary point B is L3, and the position P(1, 0) of the second light source 2 is in line with the target The auxiliary line L4 of point C intersects with the auxiliary lines L2 and L3 respectively at two second auxiliary points E and D; and obtains the coordinate values (x2, y2) and (x1, y1) of the two second auxiliary points E and D .

Points A and B are the points on the nth and n+1th bright stripes emitted by the first light source 1, and point C is the point on the mth bright stripes emitted by the second light source 2. According to the principle of grating diffraction and Parameters such as grating constant and light source wavelength, n and m are known natural numbers that can be measured, that is, the included angles α, β, and γ between the auxiliary lines L2, L3, and L4 and the x-axis are measurable and known, that is, The angles α, β, and γ are known, and in FIG. 4 , the distance between the first light source 1 and the second light source 2 , that is, the line segment OP is also known. Then in the triangle EOP, if the length of OP is known, and the included angles α and γ are known, then the coordinate value (x1, y1) of point D can be calculated. Similarly, the coordinate value of point E can be calculated (x2 ,y2).

Step S1065, according to the coordinate values of the two second auxiliary points E and D and the proportional relationship between the distances between the two first auxiliary points A and B and C, the coordinate value of the target point is obtained.

The length ratio of line segment AC to BC can be measured from the bright stripe image shown in Figure 2 captured by camera 3: point C is a point on a known bright stripe in Figure 3, measured on both sides of point C The distance between two adjacent bright stripes and the bright stripe where point C is located is to calculate the number of pixels in the horizontal direction between the bright stripes, and the length ratio of the line segment AC to BC can be obtained In this embodiment, since the distance between adjacent stripes is very small compared to the distance between them and the x-axis, the length ratio of the line segment EC to DC can be approximately equal to the length ratio of the line segment AC to BC, that is Therefore, the coordinate value of the target point C can be obtained according to the coordinates of point D and point E and the ratio of EC/DC.

It can be seen from the above that the above steps of the present application achieve the technical purpose of obtaining the target point by constructing the coordinate system and auxiliary points.

Step S1066, replace the target point C to be measured with another target point, and repeat steps S1061-S1065 until the coordinate values of all predetermined target points are obtained.

Optionally, according to the above-mentioned embodiments of the present application, after obtaining the coordinate values of the multiple target points, and obtaining the target curved surface according to the coordinate values of the multiple target points, the method further includes:

Step S110, according to the target curved surface, determine the volume of the airship auxiliary airbag to which the target curved surface belongs.

Specifically, the volume of the auxiliary airbag of the airship is used to characterize the inflation of the auxiliary airbag, so that the state of the airbag of the airship and the flight state of the airship can be obtained.

Step S112, acquiring a preset safety volume range.

Specifically, the aforementioned preset safety volume range may include a maximum volume and a minimum volume.

Step S114, when the volume of the auxiliary airbag of the airship is not within the safe volume range, an alarm signal is sent.

Specifically, when the volume of the airship auxiliary airbag is greater than the maximum volume or smaller than the minimum volume, it is confirmed that the volume of the airship auxiliary airbag is not within the safe volume range, so the auxiliary airbag is in an unsafe state, and an alarm signal is sent. There may also be a real-time data display device for real-time display of the volume of the auxiliary airbag.

It should be noted that the interior of the auxiliary airbag of the airship is filled with air, it is inside the main airbag of the airship, and the space between the airbag and the airbag is filled with helium, and the buoyancy of the airship is provided by the helium between the main airbag and the auxiliary airbag. In an optional embodiment, because the volume of the auxiliary airbag is less than the minimum volume and an alarm signal is generated, it can be considered that the volume of the main airbag of the airship is too large, which may be caused by the excessive temperature of the gas in the main airbag; in another In an optional embodiment, if an alarm signal is generated because the volume of the auxiliary airbag is greater than the maximum volume, it can be considered that the volume of the airship airbag is too small, which may be caused by the temperature of the gas in the airbag being too low.

As can be seen from the above, the above steps of the present application obtain the preset safe volume range, and when the volume of the airship auxiliary airbag is not within the safe volume range, an alarm signal is sent to realize the monitoring of the state of the airship auxiliary airbag, thereby realizing Monitoring of airship flight status.

Optionally, according to the above-mentioned embodiments of the present application, the two preset light sources and the device for collecting images are all arranged in the airship auxiliary airbag, and the method for determining the volume of the airship auxiliary airbag to which the target curved surface belongs includes: using the curved surface The distance from the target point on the surface to the light source is integrated on the surface to obtain the internal volume of the airship auxiliary airbag.

In an optional embodiment, the example shown in FIG. 2 is used for description. 203 is the target curved surface of the airship auxiliary airbag, that is, the part captured by the camera. Both the first light source 1 and the second light source 2 are in the airship auxiliary airbag. Inside the airbag, after the target curved surface is obtained, the cone body with the first light source 1 as the top of the cone and the curved surface 203 as the bottom surface can actually be obtained. Since the coordinates of each target point on the target curved surface are obtained, it is possible to know the The distance between each target point and the cone-top light source 1, using the distance from the target point on the curved surface 203 to the light source 1 to integrate the curved surface 203, the volume of the vertebral body can be obtained, and the interior of the airship auxiliary airbag can be obtained through the volume of the vertebral body volume.

Example 2

According to the method for obtaining a target curved surface provided in Embodiment 1, the present application also provides a device for obtaining a target curved surface. FIG. 5 is a schematic structural diagram of a device for obtaining a target curved surface according to an embodiment of the present invention. The device includes:

The collection module 50 is used to collect the image generated by the light projected on the target surface, the image includes: a plurality of bright stripes, wherein the light is the outgoing light from two preset light sources, and the bright lights from the two preset light sources are respectively The stripes are arranged at intervals.

Specifically, the above-mentioned target curved surface is the surface of the auxiliary airbag to be monitored, and in the above-mentioned steps, an image containing multiple bright stripes may be collected by the camera.

In an optional embodiment, the above-mentioned bright stripes can be obtained by beam-splitting and modulating the outgoing light of the preset light source. Since the outgoing light of the preset light source is beam-splitting and modulated, bright and dark lines arranged at intervals will be obtained. The bright and dark lines will avoid forming multiple bright stripes in the auxiliary airbag, and then use the camera to collect the image formed by multiple bright stripes.

Specifically, the above target points are used to determine the target curved surface.

What needs to be explained here is that the spacing of the bright stripes is different, and the density of the target points is not necessarily the same. Therefore, the monitoring accuracy of the same target surface will also be affected by the spacing of multiple bright stripes and the density of the target points. , when more target points are obtained, the target surface obtained by monitoring is more accurate, but since there are more target points, the calculation amount is also large, and when there are fewer target points obtained, the target surface obtained by monitoring is not enough Accurate, but the amount of data calculation is small, so the target point can be obtained according to the actual monitoring requirements.

The first acquisition module 52 is configured to acquire multiple target points from the bright stripes in the image.

The second acquiring module 54 is configured to acquire the coordinate values of multiple target points, and acquire the target curved surface according to the coordinate values of the multiple target points.

In the above device, since the light source is a preset light source, the distance between the light source and the target surface is known. After the target point is determined, the coordinates of each target point can be calculated according to the distance relationship between the light source and the target surface. In an optional embodiment, the target surface with high similarity can be directly obtained according to the three-dimensional reconstruction method. The three-dimensional reconstruction method in this embodiment may be the method described in steps S1061-S1066 in Embodiment 1.

The determining module is used for determining the volume of the auxiliary airbag according to the target curved surface.

What needs to be explained here is that the method for obtaining the target curved surface provided by the above-mentioned embodiments is suitable for environments with good adaptability, simple system construction, clear image processing, and low cost. In addition to being used in airship auxiliary airbag monitoring, it can also be used in the production of stereoscopic imaging cameras with dual fill lights, 3D reconstruction applications in darkroom environments, etc. It can play the role of three-dimensional reconstruction, stereo photography, target position monitoring, and stereo imaging reconstruction in these scenes.

It can be seen from the above that the above-mentioned device of the present application collects the image generated by the projection of light on the target curved surface through the acquisition module, obtains multiple target points from the bright stripes in the image through the first acquisition module, and acquires multiple target points through the second acquisition module. The coordinate value of the target point is obtained, and the target surface is obtained according to the coordinate values of the multiple target points, and the volume of the auxiliary airbag is determined according to the target surface through the determination module. The above solution has strong environmental applicability. Even if the attitude of the light source and camera changes greatly during use, no calibration is required, and the status of the auxiliary airbag can be effectively monitored, and the monitoring accuracy can meet actual needs.

Optionally, according to the above-mentioned embodiments of the present application, the above-mentioned device further includes: a generating module, configured to generate bright stripes before collecting an image generated by light rays projected on the target curved surface, wherein the generating module includes:

The setting unit is used for setting two preset light sources separated by a preset distance in front of the target surface.

The modulation unit is used to perform beam splitting and modulation on the outgoing light of the two preset light sources, so that the outgoing light forms bright stripes.

It can be seen from the above that the above-mentioned device of the present application sets two preset light sources separated by a preset distance in front of the target surface through the setting unit, and performs beam splitting and modulation on the outgoing light of the two preset light sources through the modulation unit, so that the outgoing light forms bright stripes . In the above solution, a light source is set in front of the target surface, and the light source is beam-splitting and modulated to form an image for acquiring the target point.

Optionally, according to the foregoing embodiments of the present application, the first acquisition module 52 includes:

The first acquiring unit is configured to acquire equidistant straight lines on the acquired image, wherein the straight lines intersect the bright stripes.

The first determination unit is configured to determine the intersection points of the straight line and the bright stripes as a plurality of target points.

Optionally, according to the foregoing embodiments of the present application, the second obtaining module 54 includes:

The second determining unit is used to determine that the first light source 1 is the origin of the two preset light sources, and the connection line between the first light source 1 and the second light source 2 is used as the first dimension to determine the connection between the two preset light sources and the second light source. The direction perpendicular to the first dimension is the second dimension, wherein the preset plane is a plane determined by the two preset light sources and a target point to be measured, and the target point to be measured corresponds to the A bright fringe emitted by the second light source 2 , the target point to be measured corresponds to a bright fringe emitted by the second light source 2 .

Establishing a unit for establishing a coordinate system according to the first dimension and the second dimension;

The second acquisition unit is used to select the bright spots in the two bright stripes emitted by the first light source 1 adjacent to both sides of the target point in the coordinate system as the two first auxiliary points, the second light source 2 and the target The intersections of the line connecting the points and the two auxiliary lines are two second auxiliary points, wherein the two auxiliary lines are the connecting lines between the first light source 1 and the first auxiliary points;

The third obtaining unit is configured to obtain the coordinate value of the target point according to the coordinate value of the second auxiliary point and the distance ratio of the first auxiliary point.

Optionally, according to the above-mentioned embodiments of the present application, the above-mentioned device further includes:

A determination module is used to determine the volume of the airship auxiliary airbag to which the target surface belongs according to the target surface;

The third obtaining module is used to obtain a preset safe volume range;

The alarm module is used to send an alarm signal when the volume of the airship auxiliary airbag is not within the safe volume range.

Example 3

According to the method for obtaining a target curved surface provided in Embodiment 1, the present application also provides a system for obtaining a target curved surface. FIG. 6 is a schematic structural diagram of a system for obtaining a target curved surface according to an embodiment of the present invention. The device includes:

Two preset light sources 60 are used for emitting light.

Specifically, the above-mentioned target curved surface is the surface of the auxiliary airbag to be monitored, and in the above-mentioned steps, an image containing multiple bright stripes may be collected by the camera.

In an optional embodiment, the above-mentioned plurality of bright stripes can be obtained by beam-splitting and modulating the outgoing light of the light source. Since the outgoing light of the light source is subjected to beam-splitting modulation, bright and dark lines arranged at intervals will be obtained, and bright and dark lines arranged at intervals will be obtained. It will avoid forming multiple bright stripes in the auxiliary airbag, and then use the camera to collect the image formed by the bright stripes.

The image acquisition device 62 is used to acquire an image generated by projecting the outgoing light on the target curved surface, the image includes: bright stripes, and the target curved surface is the surface of the auxiliary airbag.

Specifically, the above target points are used to determine the target curved surface.

What needs to be explained here is that the spacing of the bright stripes is different, and the density of the target points is not necessarily the same. Therefore, the monitoring accuracy of the same target surface will also be affected by the spacing of the bright stripes and the density of the target points. When more target points are obtained, the target surface obtained by monitoring is more accurate. However, due to the large number of target points, the calculation amount is also large. In the case of few target points obtained, the target surface obtained by monitoring is not accurate enough. However, the amount of data calculation is small, so the target point can be obtained according to the actual monitoring requirements.

Processor 64, connected with the image acquisition device, used to take multiple target points from the bright stripes in the image; obtain the coordinate values of multiple target points, and obtain the target curved surface according to the coordinate values of the multiple target points; and according to the target curved surface Determine the volume of the auxiliary airbag.

In the above system, since the light source is a preset light source, the distance between the light source and the target surface is known. After the target point is determined, the coordinates of each target point can be calculated according to the distance relationship between the light source and the target surface. In an optional embodiment, the target surface with high similarity can be directly obtained according to the three-dimensional reconstruction method.

What needs to be explained here is that the method for obtaining the target curved surface provided by the above-mentioned embodiments is suitable for environments with good adaptability, simple system construction, clear image processing, and low cost. In addition to being used in airship auxiliary airbag monitoring, it can also be used in the production of stereoscopic imaging cameras with dual fill lights, 3D reconstruction applications in darkroom environments, etc. It can play the role of three-dimensional reconstruction, stereo photography, target position monitoring, and stereo imaging reconstruction in these scenes.

It can be seen from the above that the above-mentioned system of the present application uses the outgoing light emitted by the preset light source, and the image acquisition device collects the image generated by the outgoing light projected on the target surface, and is connected to the image acquisition device through the processor. From the bright stripes in the image Take multiple target points; obtain the coordinate values of multiple target points, and obtain the target surface according to the coordinate values of the multiple target points; and determine the volume of the auxiliary airbag according to the target surface. The above solution has strong environmental applicability. Even if the attitude of the light source and camera changes greatly during use, no calibration is required, and the status of the auxiliary airbag can be effectively monitored, and the monitoring accuracy can meet actual needs.

Optionally, according to the above-mentioned embodiment of the present application, the above-mentioned system further includes: the preset light source is two light sources, arranged in front of the target curved surface, and separated from the target curved surface by a preset distance.

Claims (15)

1. A kind of 1. method for obtaining target surface, which is characterized in that including：

   The image that acquisition is incident upon on target surface and is generated by light, described image include：Multiple bright fringes, wherein, it is described Light is the emergent ray that two default light sources are sent out, and is alternatively arranged respectively from the bright fringes of two default light sources；

   Multiple target points are taken from the bright fringes in described image；

   The coordinate value of the multiple target point is obtained, and the target surface is obtained according to the coordinate value of the multiple target point.
2. 2. it according to the method described in claim 1, it is characterized in that, is incident upon on target surface and generated by light in acquisition Before image, the method further includes：The bright fringes is generated, wherein, the step of generating the bright fringes, includes：

   Two default light sources of setting interval pre-determined distance in front of the target surface；

   The emergent ray of default light source described to two is split modulation, and the emergent ray is made to form the multiple bright wisp Line.
3. 3. according to the method described in claim 2, it is characterized in that, take multiple target points from the bright fringes in described image, Including：

   Equidistant straight line is taken to the described image of acquisition, wherein, the straight line intersects with the multiple bright fringes；

   The intersection point for determining the straight line and the bright fringes is the multiple target point.
4. 4. according to the method described in claim 3, it is characterized in that, obtain the coordinate value of the multiple target point, including：

   Two default light sources are first light source and second light source, determine that first light source is original in two default light sources The line of point, the first light source and second light source be the first dimension, determine in preset plane with first dimension perpendicular Direction for the second dimension, wherein, the preset plane is what is determined by two default light sources and a target point to be measured Plane, the target point to be measured correspond to the bright fringes that the second light source is sent out；

   Coordinate system is established according to first dimension and second dimension；

   It chooses in a coordinate system bright in two bright fringes sent out by the first light source adjacent with the target point both sides For point as two the first auxiliary magnets, the second light source and the line of the target point and the intersection point of two articles of auxiliary lines are two the Two auxiliary magnets, wherein, two auxiliary lines are the first light source and the line of described two first auxiliary magnets；

   According to the coordinate value of described two second auxiliary magnets and described two first auxiliary magnets and the target point to be measured The proportionate relationship of distance obtains the coordinate value of the target point.
5. 5. according to the method described in claim 4, it is characterized in that, according to the coordinate value of described two second auxiliary magnets and institute Two the first auxiliary magnets and the proportionate relationship of the distance of the target point to be measured are stated, obtain the coordinate value of the target point, packet It includes：

   Measure to obtain described two first auxiliary magnets to the ratio of the distance of the target point to be measured according to described image Example value；

   Using the ratio value of described two first auxiliary magnets to the distance of the target point to be measured as the described two second auxiliary It puts to the ratio value of the distance of the target point to be measured；

   According to the ratio of the coordinate value of described two second auxiliary magnets and described two second auxiliary magnets to the distance of the target point Example value, obtains the coordinate value of the target point to be measured.
6. 6. method as claimed in any of claims 1 to 5, which is characterized in that the target surface is a dirigible The surface of balloonet.
7. 7. according to the method described in claim 6, it is characterized in that, in the coordinate value for obtaining the multiple target point, and according to After the coordinate value of the multiple target point obtains the target surface, the method further includes：

   The volume of dirigible balloonet according to belonging to the target surface determines the target surface；

   Obtain preset safe volume range；

   In the case where the volume of the dirigible balloonet is not at the safe volume range, alarm signal is sent out.
8. 8. the method according to the description of claim 7 is characterized in that two default light sources and the device for acquiring image It may be contained in the dirigible balloonet, the appearance of the dirigible balloonet according to belonging to the target surface determines the target surface Long-pending method includes：The curved surface is integrated using the distance of the target point on the curved surface to light source, obtains dirigible pair The internal capacity of air bag.
9. 9. a kind of device for obtaining target surface, which is characterized in that including：

   Acquisition module, for acquiring the image for being incident upon on target surface and being generated by light, described image includes：Multiple bright wisps Line, wherein, the light is the emergent ray that two default light sources are sent out, respectively from the bright fringes of two default light sources It is alternatively arranged；

   First acquisition module, for taking multiple target points from the bright fringes in described image；

   Second acquisition module, for obtaining the coordinate value of the multiple target point, and according to the coordinate value of the multiple target point Obtain the target surface.
10. 10. device according to claim 9, which is characterized in that described device further includes：Generation module, for acquiring Before the image for be incident upon on target surface and generated by light, the bright fringes is generated, wherein, the generation module includes：

    Setting unit, for two default light sources of the setting interval pre-determined distance in front of the target surface；

    Modulation unit, the emergent ray for default light source described to two are split modulation, form the emergent ray The bright fringes.
11. 11. device according to claim 10, which is characterized in that first acquisition module includes：

    First acquisition unit takes equidistant straight line for the described image to acquisition, wherein, the straight line and the multiple bright wisp Line intersects；

    First determination unit, the intersection point for determining the straight line and the bright fringes is the multiple target point.
12. 12. according to the devices described in claim 11, which is characterized in that two default light sources are first light source and the second light Source, second acquisition module include：

    Second determination unit, for determining in two default light sources that first light source is origin, the first light source and second The line of light source determines that in preset plane be the second dimension with the direction of first dimension perpendicular as the first dimension, In, the preset plane is the plane determined by two default light sources and a target point to be measured, the target to be measured Point corresponds to the bright fringes that the second light source is sent out, and the target point to be measured corresponds to one that the second light source is sent out Bright fringes；

    Unit is established, for establishing coordinate system according to first dimension and second dimension；

    Second acquisition unit is adjacent by the first light source with the target point both sides to be measured for choosing in a coordinate system Bright spot in two bright fringes sent out is as two the first auxiliary magnets, the line and two of the second light source and the target point The intersection point of auxiliary line is two the second auxiliary magnets, wherein, two auxiliary lines are the first light source and described first auxiliary Help line a little；

    Third acquiring unit, for the coordinate value according to second auxiliary magnet and first auxiliary magnet with it is described to be measured The ratio of the distance of target point obtains the coordinate value of the target point.
13. 13. the device according to any one in claim 9 to 12, which is characterized in that described device further includes：

    Determining module, for the volume of the dirigible balloonet belonging to determining the target surface according to the target surface；

    Third acquisition module, for obtaining preset safe volume range；

    Alarm module in the case of being not at the safe volume range in the volume of the dirigible balloonet, sends out report Alert signal.
14. 14. a kind of system for obtaining target surface, which is characterized in that including：

    Two default light sources, for the emergent ray sent out；

    Image capture device, for acquiring the image for being incident upon on target surface and being generated by the emergent ray, described image Including：Multiple bright fringes, the target surface are the surface of dirigible balloonet；

    Processor is connected with described image collecting device, for taking multiple target points from the bright fringes in described image；It obtains The coordinate value of the multiple target point obtains the target surface according to the coordinate value of the multiple target point；And according to described Target surface determines the volume of the dirigible balloonet.
15. 15. system according to claim 14, which is characterized in that the system also includes：Two default light sources are set Be placed in front of the target surface, and with target surface interval pre-determined distance.