CN114526680A - Thin ice thickness measuring device and method based on reflected light spot image recognition - Google Patents
Thin ice thickness measuring device and method based on reflected light spot image recognitionDownload PDFInfo
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Abstract
Description
Translated fromChinese技术领域technical field
本发明涉及一种基于反射光斑图像识别的薄冰厚度测量装置，还涉及一种采用该方法进行薄冰厚度测量的方法，主要可用于寒冷环境下易结冰表面附着的厚度在1cm以下明冰、混合冰、霜冰厚度的精确测量，属于图像检测技术领域。The invention relates to a thin ice thickness measurement device based on reflection light spot image recognition, and also relates to a method for thin ice thickness measurement using the method, which can be mainly used for clear ice with a thickness of less than 1 cm attached to an icing-prone surface in a cold environment , The precise measurement of the thickness of mixed ice and frost ice belongs to the technical field of image detection.
背景技术Background technique
在寒冷条件下，如遇到降水、水汽等潮湿环境，暴露在外的物体与设备表面会结冰。结冰会影响人的生产生活和相关设备的性能，例如道路表面的薄冰会使车辆打滑引发交通事故，输电线覆冰会增加杆塔负重导致坍塌，飞机机翼在高空结冰会大幅降低升力影响飞行安全，因此对物体表面进行结冰厚度的准确测量和预警具有十分重要的意义。In cold conditions, such as precipitation, moisture and other humid environments, exposed objects and equipment surfaces will freeze. Icing will affect people's production and life and the performance of related equipment. For example, thin ice on the road surface will cause vehicles to slip and cause traffic accidents. Ice coating on power lines will increase the load of towers and lead to collapse. The icing of aircraft wings at high altitude will greatly reduce lift. It affects flight safety, so it is of great significance to accurately measure and warn of icing thickness on the surface of objects.
现有的薄冰测量方式分为两类，第一类为接触式测量，代表方式有磁致伸缩法、波导法、阻抗法等。接触式测量方法需要在待测表面进行预处理，提前埋入布设传感器，或者对冰层进行破坏，在一些环境下无法进行相关操作。同时接触式传感器完全暴露在外界环境中，易受到灰尘、液体的侵蚀，寿命普遍较短，精度会随使用时间下降。第二类为非接触式测量，代表方法主要有图像法、超声波法、三角测距法等。图像法从截面拍摄结冰表面图像，通过边缘识别冰层轮廓计算厚度，无法适用于获取不到截面图像的应用场合；超声波法利用接收经冰面反射的超声波的延迟时间计算冰层厚度，但其精度较低，不适用于薄冰厚度测量；三角测距法向待测平面射入激光，根据接收器接收到反射光强度波峰位置计算冰层厚度，该方法对冰层透明度等条件要求苛刻，当冰层表面粗糙不透明时，测量精度会大幅下降。The existing thin ice measurement methods are divided into two categories. The first category is contact measurement, and the representative methods include magnetostriction method, waveguide method, and impedance method. The contact measurement method requires preprocessing on the surface to be measured, burying and laying sensors in advance, or destroying the ice layer, and related operations cannot be performed in some environments. At the same time, the contact sensor is completely exposed to the external environment and is easily eroded by dust and liquid. The service life is generally short, and the accuracy will decrease with the use time. The second category is non-contact measurement, and the representative methods mainly include image method, ultrasonic method, triangular ranging method, etc. The image method takes an image of the icing surface from the cross-section, and calculates the thickness by identifying the contour of the ice layer, which is not suitable for applications where the cross-sectional image cannot be obtained; the ultrasonic method uses the delay time of receiving the ultrasonic wave reflected by the ice surface to calculate the ice layer thickness, but Its accuracy is low, and it is not suitable for thin ice thickness measurement; the triangular ranging method injects laser light into the plane to be measured, and calculates the thickness of the ice layer according to the peak position of the reflected light intensity received by the receiver. This method has strict requirements on the transparency of the ice layer and other conditions. , when the surface of the ice layer is rough and opaque, the measurement accuracy will be greatly reduced.
发明内容SUMMARY OF THE INVENTION
为了克服现有技术的缺陷，本发明提供了一种基于反射光斑图像处理的冰厚测量方法及一种采用上述方法的薄冰厚度测量装置，实现对物体表面冰层厚度的非接触式、高精度测量，可广泛应用于对薄冰厚度测量有需求的领域。In order to overcome the defects of the prior art, the present invention provides an ice thickness measurement method based on reflected light spot image processing and a thin ice thickness measurement device using the above method, so as to realize the non-contact, high-precision measurement of the ice layer thickness on the surface of the object. Accurate measurement, which can be widely used in fields where thin ice thickness measurement is required.
为了达到上述技术目的,本发明采用的技术方案为:In order to achieve the above-mentioned technical purpose, the technical scheme adopted in the present invention is:
一种基于反射光斑图像识别的薄冰厚度测量装置，所述的薄冰厚度测量装置包括外壳1、内壳2、棱镜3、第一窗口4、第一转轴5、第一角度传感器6、紫外CCD相机7、激光测距模块8、紫外点激光源9、调焦透镜模块10、反光镜11、第二窗口12、第二转轴13、第二角度传感器14、传输线缆15。所述薄冰厚度测量装置整体为长方体管状结构，上述机构均安装固定在管状壳体中。A thin ice thickness measurement device based on reflected light spot image recognition, the thin ice thickness measurement device comprises an
所述的外壳1内部空间设有左、中、右三部分。所述激光测距模块8固定于中部空间内，该中部空间左侧为弧形侧面，右侧为矩形侧面，其测距激光射出方向垂直于外壳1底面。所述的外壳1左侧空间内设置内壳2。所述的右侧空间内设置紫外点激光源9、调焦透镜模块10、反光镜11、第二窗口12、第二转轴13、第二角度传感器14、传输线缆15。The inner space of the
所述外壳1与内壳2为嵌套结构，且均为管状结构，其中内壳2与外壳1等高，宽度比外壳1稍小且在水平方向齐平嵌入外壳1内。所述内壳2与外壳1通过第一转轴5连接。所述第一转轴5设于内壳2中部，第一角度传感器6与第一转轴5组合，内壳2可围绕第一转轴5进行旋转，并由第一角度传感器6测量当前旋转角度；在内壳2未进行旋转时，内壳2与外壳1为一体结构。所述内壳2的右侧面弧度，与其接触的外壳1中部空间的左侧面弧度匹配，弧度圆心为所述第一转轴5的中心，弧度半径为第一转轴5到内壳2右边界的水平距离；内壳2进行旋转时，内壳2与外壳1不会出现卡顿。The
所述棱镜3为全反射三棱镜，固定于内壳2左部，其入射面与内壳2内底面齐平；所述第一窗口4位于内壳2左部底面，贴合棱镜3的入射面，嵌入内壳2平面；所述紫外CCD相机7固定于内壳2右部，紫外CCD相机7的光轴垂直于棱镜3的出射面。所述内壳2围绕第一转轴5旋转时带动棱镜3与紫外CCD相机7共同旋转。The
所述紫外点激光源9固定于激光测距模块8右侧空间的左上角，向右下方投射点激光；所述调焦透镜模块10位于紫外点激光源9的前方，调焦透镜模块10的光轴与紫外点激光源9射出光线的重合，调焦透镜模块10可调整紫外点激光源9的激光束在冰面汇聚为最小入射光斑的等效距离；所述反光镜11位于调焦透镜模块10前方，可偏转紫外点激光源9投射出的激光束角度，由所述第二转轴13夹持；所述第二转轴13与所述第二角度传感器14组合，第二转轴13可带动反光镜11进行旋转，并由第二角度传感器14测量当前旋转角度。所述第二窗口12位于反光镜11下方，嵌入外壳1的平面。The ultraviolet
所述的传输线缆15位于激光测距模块8的上方，从外壳1的圆孔伸出向外延伸。传输线缆15为装置各机构供电，同时控制第一转轴5与第二转轴13的旋转、紫外CCD相机7的拍摄、紫外点激光源9的投射、调焦透镜模块10的进动，并将紫外CCD相机7拍摄图像、第一角度传感器6与第二角度传感器14、激光测距模块8的测量数据上传至上位机。The
一种基于上述测量装置实现的反射光斑图像识别的薄冰厚度测量方法，该测量方法将一束紫外点激光以特定角度射入待测冰层16内，射入角度可以调整，激光经过调焦后在待测冰面16形成最小激光点光斑。入射激光会在冰层基底17产生反射，在冰层厚度较薄时，反射激光束会在待测冰面17形成扩散状光斑；在冰层厚度较厚，或冰层表面粗糙，冰型种类为霜冰与混合冰时，反射激光束会在冰层中大幅损耗，形成无法辨认的微弱光斑或无法形成光斑。在冰层厚度增加时，入射光斑与反射光斑(若可以形成)在冰层表面的位置会发生偏移。使用紫外CCD相机7从特定角度拍摄入射激光在待测冰面形成的光斑图像，对光斑图像进行处理，标记光斑中心点坐标。当反射光斑存在时，计算紫外CCD拍摄图像中两光斑中心点像素距离；当只能识别到一个入射光斑时，将光斑中心点坐标与待测平面无冰时的光斑中心点坐标进行对比，计算光斑中心点坐标偏移像素距离。通过安装时确定的点激光入射角度、拍摄角度、安装高度与相机内参数焦距、CCD物理尺寸、图像横向像素数量计算单位长度标尺在紫外CCD物理尺寸上的转换比例，通过几何关系将光斑中心点像素坐标距离与偏移距离换算至真实冰层厚度。基于测量装置测量冰厚的步骤具体如下为：A thin ice thickness measurement method based on the reflection spot image recognition realized by the above measurement device, the measurement method injects a beam of ultraviolet point laser into the
第一步，进行安装操作。The first step is to install.
所述安装内容包括确定装置安装高度H，紫外点激光入射角度θ与紫外CCD相机拍摄角度α。所述安装高度H由激光测距模块8测量装置与待测平面17的垂直距离获得；所述紫外点激光入射角度θ由安装操作中调整第二转轴13偏转激光时，与第二转轴13组合的第二角度传感器14获得；所述CCD相机拍摄角度α由安装操作中调整第一转轴5带动内壳2旋转时，与第一转轴5组合的第一角度传感器6获得。The installation content includes determining the installation height H of the device, the incident angle θ of the ultraviolet point laser and the shooting angle α of the ultraviolet CCD camera. The installation height H is obtained by the vertical distance between the measuring device of the
安装操作时动态调整第一转轴5、第二转轴13和装置距离待测平面17的高度使安装高度H、紫外点激光入射角度θ与紫外CCD相机拍摄角度α满足一定关系：所述紫外点激光源9以入射角θ射向待测平面17所形成光斑的位置须在紫外CCD相机7以角度α拍摄时的成像画幅之内，且画幅中初始光斑B的位置(无冰时)须靠近紫外CCD相机7一侧，保证冰层厚度增加时所述入射激光形成的光斑B逐渐向紫外点激光源9一侧偏移；由于激光的方向性，紫外CCD相机7以角度α拍摄到的点激光形成光斑B须明亮清晰；所述安装高度H须根据待测平面17历史冰厚数据预估待测冰厚可能的厚度，在厚度较薄时(3mm以下)控制安装高度H，使点激光与待测平面17的入射夹角小于45°，此时存在所述反射光斑A且入射与反射点激光夹角为钝角，在冰层表面所形成光斑间距放大冰层厚度变化。所述安装操作结束后装置安装高度H、点激光入射角度θ、CCD相机拍摄角度α均固定不再发生改变，记录此时H、θ、α标定数值和当前点激光在待测平面形成的光斑图像。During the installation operation, dynamically adjust the height of the first rotating shaft 5, the second rotating
第二步，进行标定操作The second step is to perform calibration
所述标定操作内容为计算单位长度标尺在紫外CCD物理尺寸上的转换比例。在确定紫外CCD相机拍摄角度α后，在CCD相机成像区域中放置单位长度标尺，确定单位长度在CCD相机拍摄图像中的像素数量x。设CCD物理宽度为d，图像横向像素总数为w，则单位长度标尺在CCD上的物理长度xi的计算公式为：The content of the calibration operation is to calculate the conversion ratio of the unit length scale on the physical size of the UV CCD. After determining the shooting angle α of the ultraviolet CCD camera, place a unit length ruler in the imaging area of the CCD camera to determine the number of pixels x per unit length in the image captured by the CCD camera. Assuming that the physical width of the CCD is d, and the total number of horizontal pixels of the image is w, the calculation formula of the physical length xi of the unit length scale on the CCD is:
经三棱镜3偏转的测量装置的等效光路中，标记CCD拍摄图像中心点O，在拍摄平面摆放可移动标记点位P，OP连线为CCD相机等效拍摄光轴。移动P点位直至与CCD拍摄图像中心点O重合，P点即为CCD拍摄图像中心点O在拍摄平面17对应的真实点位。通过镜头焦距f、CCD拍摄角度α、装置等效安装高度H计算CCD相机拍摄的光斑中心点像素坐标距离与真实冰层厚度的转换比例。设光斑1中心点为A，其在相机CCD拍摄图像上对应点为a，光斑2中心点为B，其在相机CCD拍摄图像上对应点为b，Aa与光轴OP夹角为γ1，Bb与光轴OP夹角为γ2，Aa与待测平面夹角为β1，Bb与待测平面夹角为β2。设待测冰面两光斑中心点真实距离为L，计算公式为：In the equivalent optical path of the measuring device deflected by the
其中，ao表示图像中心点O据光斑中心点a的像素距离；bo表示图像中心点O据光斑中心点b的像素距离。Among them, ao represents the pixel distance between the image center point O and the spot center point a; bo represents the pixel distance between the image center point O and the spot center point b.
当反射光斑存在时，L为入射光斑B与反射光斑A中心点坐标的真实距离。设冰层折射率为n，紫外点激光入射角为θ，则该点冰层厚度可设为δ，计算公式为：When the reflected light spot exists, L is the real distance between the incident light spot B and the coordinates of the center point of the reflected light spot A. Assuming that the refractive index of the ice layer is n, and the incident angle of the ultraviolet point laser is θ, the thickness of the ice layer at this point can be set to δ, and the calculation formula is:
当反射光斑微弱无法被识别时，L为当前入射光斑B’的中心点与待测表面未结冰时入射光斑B中心点偏移的真实距离。此时冰层厚度δ的计算公式为：When the reflected light spot is so weak that it cannot be identified, L is the actual distance between the center point of the current incident light spot B' and the center point of the incident light spot B when the surface to be tested is not frozen. At this time, the calculation formula of ice thickness δ is:
第三步，进行点激光投射与图像采集。The third step is to perform point laser projection and image acquisition.
所述点激光投射操作内容为打开紫外点激光源9，调整调焦透镜模块10直至点激光源投射光斑在待测冰面16上形成最小入射光斑B。所述图像采集操作内容为调整紫外CCD相机镜头7的焦距，使待测冰面16在CCD上成像清晰锐利，易区分激光光斑区域与冰层区域，拍摄此时待测冰面图像。将图像数据以及当前安装高度H、点激光入射角度θ、紫外CCD相机拍摄角度α通过传输线缆15上传至上位机。The content of the point laser projection operation is to turn on the ultraviolet
第四步，进行当前冰层厚度计算。The fourth step is to calculate the current ice thickness.
所述冰层厚度计算内容为在上位机中处理拍摄冰面表面图像，对图像进行矩形结构元素的膨胀与腐蚀运算平滑光斑与冰层的边界，将图像转化为二值图像，分割二值图像的连通矩形区域，标记每一个矩形的重心坐标。当经过处理的二值图像中标记矩形个数为2个时，代入公式(2)计算并记录2个矩形重心坐标的像素距离在CCD上的物理长度L，代入公式(3)计算冰层厚度；当经过处理的二值图像中标记矩形个数为1个时，计算并记录该矩形重心坐标，与未结冰时待测表面入射光斑图像经处理后矩形重心坐标位置进行对比，代入公式(2)计算两重心坐标的像素距离CCD上的物理长度L，代入公式(4)计算冰层厚度。The content of the ice layer thickness calculation is to process and capture the image of the ice surface in the host computer, perform the expansion and erosion operations of rectangular structural elements on the image to smooth the boundary between the light spot and the ice layer, convert the image into a binary image, and segment the binary image. The connected rectangular area of is marked with the barycentric coordinates of each rectangle. When the number of marked rectangles in the processed binary image is 2, substitute formula (2) to calculate and record the physical length L of the pixel distance of the barycentric coordinates of the two rectangles on the CCD, and substitute formula (3) to calculate the thickness of the ice layer ; When the number of marked rectangles in the processed binary image is 1, calculate and record the coordinates of the barycenter of the rectangle, compare it with the coordinates of the barycenter of the rectangle after the processing of the incident light spot image on the surface to be tested when it is not frozen, and substitute it into the formula ( 2) Calculate the physical length L on the CCD from the pixel distance of the two centroid coordinates, and substitute it into formula (4) to calculate the thickness of the ice layer.
本发明的有益效果为：The beneficial effects of the present invention are:
(1)采用非接触式方法测量冰层厚度，避免对待测平面和冰面进行破坏；(1) Use a non-contact method to measure the thickness of the ice layer to avoid damage to the plane to be measured and the ice surface;
(2)对光斑进行图像识别确定重心坐标仅受光斑轮廓大小影响，不受反射光强度，环境光干扰影响；(2) Image recognition of the light spot to determine the barycentric coordinates is only affected by the size of the light spot outline, and is not affected by the reflected light intensity and ambient light interference;
(3)采用2种计算方法适应不同冰面条件计算薄冰厚度，对难以测量厚度的霜冰、混合冰面进行较精准的厚度测量；(3) Two calculation methods are used to calculate the thickness of thin ice to adapt to different ice surface conditions, and to perform more accurate thickness measurement on frost ice and mixed ice surface that are difficult to measure thickness;
(4)采用全反射式三棱镜折叠成像光路，大大缩小测量方法所需装置的长度与体积；(4) The total reflection type triangular prism is used to fold the imaging optical path, which greatly reduces the length and volume of the device required by the measurement method;
(5)采用双转轴调整激光入射角度与CCD拍摄角度，安装调整方便，适应各种待测平面。(5) The laser incident angle and the CCD shooting angle are adjusted by double rotating shafts, which is convenient for installation and adjustment, and is suitable for various planes to be measured.
附图说明Description of drawings
图1为本发明测量装置的工作原理示意图；Fig. 1 is the working principle schematic diagram of the measuring device of the present invention;
图2为本发明测量装置的底视图；Fig. 2 is the bottom view of the measuring device of the present invention;
图3为本发明测量方法的等效光路图；Fig. 3 is the equivalent optical path diagram of the measuring method of the present invention;
图4为本发明测量方法所拍摄冰层表面光斑经图像处理后的效果图。FIG. 4 is an effect diagram of the light spot on the surface of the ice layer photographed by the measuring method of the present invention after image processing.
图中：1外壳、2内壳、3棱镜、4第一窗口、5第一转轴、6第一角度传感器、7紫外CCD相机、8激光测距模块、9紫外点激光源、10调焦透镜模块、11反光镜、12第二窗口、13第二转轴、14第二角度传感器、15传输线缆、16待测冰面、17覆冰平面。In the picture: 1 outer shell, 2 inner shell, 3 prism, 4 first window, 5 first shaft, 6 first angle sensor, 7 ultraviolet CCD camera, 8 laser ranging module, 9 ultraviolet point laser source, 10 focusing lens Module, 11 mirror, 12 second window, 13 second shaft, 14 second angle sensor, 15 transmission cable, 16 ice surface to be measured, 17 ice coating plane.
具体实施方式Detailed ways
为使本发明实施例的目的、技术方案和优点更加清楚，下面将对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明的一部分实施例，而不是全部的实施例；基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are part of the embodiments of the present invention, not All the embodiments; based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work, all belong to the protection scope of the present invention.
如图1～2所示，本发明实施例提供了一种基于反射光斑图像识别的薄冰厚度测量装置，包括外壳1、内壳2、棱镜3、第一窗口4、第一转轴5、第一角度传感器6、紫外CCD相机7、激光测距模块8、紫外点激光源9、调焦透镜模块10、反光镜11、第二窗口12、第二转轴13、第二角度传感器14、传输线缆15。同时展示了一种使用场景，16为待测冰面，17为覆冰平面。所述装置整体为长方体管状结构，上述机构均安装固定在管状壳体中。装置整体功能为激光发射、图像采集和数据传输，并将采集到图像与数据传输至上位机，计算待测点位冰层厚度。As shown in Figures 1-2, an embodiment of the present invention provides a thin ice thickness measurement device based on reflected light spot image recognition, including an
所述的外壳1内部空间设有左、中、右三部分。所述激光测距模块8固定于中部空间内，该中部空间左侧为弧形侧面，右侧为矩形侧面，其测距激光射出方向垂直于外壳1底面。所述的外壳1左侧空间内设置内壳2。所述的右侧空间内设置紫外点激光源9、调焦透镜模块10、反光镜11、第二窗口12、第二转轴13、第二角度传感器14、传输线缆15。The inner space of the
所述外壳1与内壳2为嵌套结构，且均为管状结构，其中内壳2与外壳1等高，宽度比外壳1稍小且在水平方向齐平嵌入外壳1内。所述内壳2与外壳1通过第一转轴5连接。所述第一转轴5设于内壳2中部，第一角度传感器6与第一转轴5组合，内壳2可围绕第一转轴5进行旋转，并由第一角度传感器6测量当前旋转角度；在内壳2未进行旋转时，内壳2与外壳1为一体结构。所述内壳2的右侧面弧度，与其接触的外壳1中部空间的左侧面弧度匹配，弧度圆心为所述第一转轴5的中心，弧度半径为第一转轴5到内壳2右边界的水平距离；内壳2进行旋转时，内壳2与外壳1不会出现卡顿。The
所述棱镜3为全反射三棱镜，固定于内壳2左部，其入射面与内壳2内底面齐平；所述第一窗口4位于内壳2左部底面，贴合棱镜3的入射面，嵌入内壳2平面；所述紫外CCD相机7固定于内壳2右部，紫外CCD相机7的光轴垂直于棱镜3的出射面。所述内壳2围绕第一转轴5旋转时带动棱镜3与紫外CCD相机7共同旋转。The
所述紫外点激光源9固定于激光测距模块8右侧空间的左上角，向右下方投射点激光；所述调焦透镜模块10位于紫外点激光源9的前方，调焦透镜模块10的光轴与紫外点激光源9射出光线的重合，调焦透镜模块10可调整紫外点激光源9的激光束在冰面汇聚为最小入射光斑的等效距离；所述反光镜11位于调焦透镜模块10前方，可偏转紫外点激光源9投射出的激光束角度，由所述第二转轴13夹持；所述第二转轴13与所述第二角度传感器14组合，第二转轴13可带动反光镜11进行旋转，并由第二角度传感器14测量当前旋转角度。所述第二窗口12位于反光镜11下方，嵌入外壳1的平面。The ultraviolet
所述的传输线缆15位于激光测距模块8的上方，从外壳1的圆孔伸出向外延伸。传输线缆15为装置各机构供电，同时控制第一转轴5与第二转轴13的旋转、紫外CCD相机7的拍摄、紫外点激光源9的投射、调焦透镜模块10的进动，并将紫外CCD相机7拍摄图像、第一角度传感器6与第二角度传感器14、激光测距模块8的测量数据上传至上位机。具体地，本发明涉及的技术原理及方法的一种实施方式为，首先，所述装置在实施冰厚测量前须进行安装固定。所述安装内容包括确定装置安装高度H，紫外点激光入射角度θ与紫外CCD相机拍摄角度α。安装高度H由激光测距模块8测量装置与待测平面17垂直距离获得；紫外点激光入射角度θ由安装操作中调整第二转轴13偏转激光时，与第二转轴13组合的第二角度传感器14获得；CCD拍摄角度α由安装操作中调整第一转轴5旋转内壳2时，与第一转轴5组合的第一角度传感器6获得。The
具体地，安装操作时动态调整第一转轴5、第二转轴13和装置距离待测平面17的高度使安装高度H、紫外点激光入射角度θ与紫外CCD相机拍摄角度α满足一定关系：所述紫外点激光源9以入射角θ射向待测平面17所形成光斑的位置须在紫外CCD相机7以角度α拍摄时的成像画幅之内，且画幅中初始光斑B的位置(无冰时)须靠近紫外CCD相机7一侧，保证冰层厚度增加时所述入射激光形成的光斑B逐渐向紫外点激光源9一侧偏移；由于激光的方向性，紫外CCD相机7以角度α拍摄到的点激光形成光斑B须明亮清晰；所述安装高度H须根据待测平面17历史冰厚数据预估待测冰厚可能的厚度，在厚度较薄时(3mm以下)控制安装高度H，使点激光与待测平面17的入射夹角小于45°，此时存在所述反射光斑A且入射与反射点激光夹角为钝角，在冰层表面所形成光斑间距放大冰层厚度变化。所述安装操作结束后装置安装高度H、点激光入射角度θ、CCD相机拍摄角度α均固定不再发生改变，记录此时H、θ、α标定数值和当前点激光在待测平面形成的光斑图像。Specifically, during the installation operation, the heights of the first rotating shaft 5, the second
具体地，所述安装操作完成后需进行标定操作。所述标定操作内容为计算单位长度标尺在紫外CCD物理尺寸上的转换比例。在确定紫外CCD相机拍摄角度α后，在CCD相机成像区域中放置单位长度标尺，确定单位长度在CCD相机拍摄图像中的像素数量x。设CCD物理宽度为d，图像横向像素总数为w，则单位长度标尺在CCD上的物理长度x_i的计算公式为：
具体地，如图3所示，经三棱镜偏转的测量装置的等效光路中，标记CCD拍摄图像中心点O，在拍摄平面摆放可移动标记点位P，OP连线为CCD相机等效拍摄光轴，移动P点位直至与CCD拍摄图像中心点O重合，P点即为CCD拍摄图像中心点O在拍摄平面对应的真实点位。通过镜头焦距f、CCD拍摄角度α、装置等效安装高度H计算CCD相机拍摄的光斑中心点像素坐标距离与真实冰层厚度的转换比例。如图3所示，光斑1中心为A，其在相机CCD上对应点为a，光斑2中心为B，其在相机CCD拍摄图像上对应点为b，Aa与光轴OP夹角为γ1，Bb与光轴OP夹角为γ2，Aa与待测平面夹角为β1，Bb与待测平面夹角为β2。设待测冰面两光斑中心点真实距离为L，计算公式为：Specifically, as shown in Fig. 3, in the equivalent optical path of the measuring device deflected by the triangular prism, mark the center point O of the CCD shooting image, place the movable marking point P on the shooting plane, and connect the OP to the equivalent shooting of the CCD camera The optical axis, move the P point until it coincides with the center point O of the CCD shooting image, and the P point is the real point corresponding to the center point O of the CCD shooting image on the shooting plane. The conversion ratio between the pixel coordinate distance of the center point of the light spot captured by the CCD camera and the actual thickness of the ice layer is calculated by the lens focal length f, the CCD shooting angle α, and the equivalent installation height H of the device. As shown in Figure 3, the center of
当反射光斑存在时，L为入射光斑与反射光斑中心点坐标的真实距离。设冰层折射率为n，紫外点激光入射角为θ，则该点冰层厚度可设为δ，计算公式为：When the reflected light spot exists, L is the real distance between the incident light spot and the coordinates of the center point of the reflected light spot. Assuming that the refractive index of the ice layer is n, and the incident angle of the ultraviolet point laser is θ, the thickness of the ice layer at this point can be set to δ, and the calculation formula is:
当反射光斑微弱无法被识别时，L为当前入射光斑中心点与待测表面未结冰时入射光斑中心点偏移的真实距离。此时冰层厚度δ的计算公式为：When the reflected light spot is so weak that it cannot be identified, L is the actual distance between the center point of the incident light spot and the center point of the incident light spot when the surface to be measured is not frozen. At this time, the calculation formula of ice thickness δ is:
具体地，本实施例中使用375nm近紫外半导体点激光源9，近紫外激光穿透性较强，同时热效应较小，对待测点冰层的影响小。将一束紫外点激光以安装操作时确定的角度θ射入待测冰层16内，激光经过调焦透镜模块调焦后在待测冰面形成最小激光点光斑。入射激光透射冰层至基底17产生反射，反射激光束会在待测冰面形成扩散状光斑。使用紫外CCD相机7从角度α拍摄入射激光在待测冰面16形成的光斑图像，拍摄角度在装置安装时经调整确定。使用传输线缆15将所拍摄图像、装置距离覆冰平面高度和角度传感器数据传输至上位机处理。对光斑图像进行处理，识别光斑区域并标记中心点坐标，代入公式(2)计算中心点坐标像素距离L，根据冰面条件，选择代入公式(3)或公式(4)计算真实冰层厚度。Specifically, a 375 nm near-ultraviolet semiconductor
具体地，由图4所示，该图像是冰层为较薄明冰时将紫外激光束以角度θ斜射入待测冰层16，紫外CCD相机7从特定固定角度α拍摄到的纺锤形光斑，其中左侧较小光斑为入射光斑，右侧较大光斑为反射光斑。对两光斑进行图像处理，可分割为两片独立区域；对区域图像使用虚线矩形框进行标记，计算矩形重心坐标并用*型进行标记。计算图像可得图中两光斑的像素距离约为53px，由公式(1)、(2)、(3)计算可得当前薄冰厚度为0.631mm。Specifically, as shown in FIG. 4 , the image is a spindle-shaped light spot captured by the ultraviolet CCD camera 7 from a specific fixed angle α when the ice layer is relatively thin and bright ice, and the ultraviolet laser beam is obliquely injected into the
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解，其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it is still The technical solutions recorded in the foregoing embodiments may be modified, or some or all of the technical features thereof may be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention .
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| CN115127482A (en)* | 2022-08-31 | 2022-09-30 | 立臻精密智造(昆山)有限公司 | Angle measuring system |
| CN115774262A (en)* | 2023-02-10 | 2023-03-10 | 深圳赛陆医疗科技有限公司 | Cover glass thickness detection device, cover glass thickness detection method, electronic device and storage medium |
| CN116385437A (en)* | 2023-06-05 | 2023-07-04 | 山东中清智能科技股份有限公司 | Multi-view multi-image fusion method and device |
| CN116385437B (en)* | 2023-06-05 | 2023-08-25 | 山东中清智能科技股份有限公司 | Multi-view multi-image fusion method and device |
| CN118225374A (en)* | 2024-05-23 | 2024-06-21 | 成都凯天电子股份有限公司 | Icing detector model icing thickness measuring device and measuring method thereof |
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