阅读说明：本技术 一种基于立体测图方式的海浪表面三维模型构建系统及方法 (Sea wave surface three-dimensional model construction system and method based on three-dimensional mapping mode ) 是由 李治远 胡俊 豆虎林 张海泉 周明 于 2021-02-20 设计创作，主要内容包括：本发明提供一种基于立体测图方式的海浪表面三维模型构建系统及方法,属于海浪观测技术领域。本发明适用于科考船舶、浮标、石油钻井平台等海上载体进行海浪表面三维模型构建,获取海浪谱信息。根据海浪测量需要,在适宜的载体上固定安装支架,支架上安装立体测图系统,高频同步采集海面立体像对,经过数据处理系统将像对上海浪的同一特征提取处理后,获得特征点的三维坐标,进而构建海浪表面三维模型。本发明提供的一种高精度实时构建海浪表面三维模型的系统和方法,为获取海浪谱信息提供一种有效的途径,对于研究海浪传播演变规律具有十分重要的意义。(The invention provides a system and a method for constructing a three-dimensional model of a sea wave surface based on a three-dimensional mapping mode, and belongs to the technical field of sea wave observation. The method is suitable for sea wave surface three-dimensional model construction of scientific research ships, buoys, oil drilling platforms and other offshore carriers to obtain sea wave spectrum information. According to the requirements of sea wave measurement, a support is fixedly arranged on a proper carrier, a three-dimensional mapping system is arranged on the support, a sea surface three-dimensional image pair is synchronously acquired at high frequency, the same characteristics of sea waves on the image pair are extracted and processed through a data processing system, and then three-dimensional coordinates of characteristic points are obtained, and further a sea wave surface three-dimensional model is constructed. The system and the method for constructing the three-dimensional model of the surface of the sea wave in real time with high precision provide an effective way for obtaining the information of the sea wave spectrum, and have very important significance for researching the propagation and evolution law of the sea wave.)

1. A sea wave surface three-dimensional model building system based on a stereo mapping mode is characterized by comprising the following components: a stereographic mapping system, mounting bracket and data processing system (10);

the stereo mapping system consists of a left part and a right part and comprises a CCD sensor I (2), a CCD sensor II (5), an AHRS sensor I (3), an AHRS sensor II (6), a GNSS receiver I (1), a GNSS receiver II (4) and a signal synchronization trigger (9);

the GNSS receiver I (1) is fixedly connected to the upper part of the CCD sensor I (2) through a support, and the CCD sensor I (2) is the left part; similarly, the CCD sensor II (5) is fixedly connected to the upper part of the AHRS sensor II (6) through a flange plate, and the GNSS receiver II (4) is fixedly connected to the upper part of the CCD sensor II (5) through a support, wherein the upper part is the right part;

the mounting bracket comprises a cross rod (7), a frame and a supporting leg (8);

the cross rod (7) is used for supporting the three-dimensional mapping system, a groove sliding rail is arranged in the middle of the cross rod (7), and the left part and the right part of the three-dimensional mapping system can be adjusted to slide in the groove, namely the relative position of the left part and the right part is adjusted; the cross rod (7) is provided with scale marks, and the displacement of the measurement centers of the left part and the right part of the stereo mapping system on the cross rod (7) can be fed back and recorded;

wherein the frame and the support legs (8) are used for supporting the cross bar (7);

the data processing system (10) comprises a software system and a computer and is used for realizing image matching, image orientation, target recognition and construction of a sea wave three-dimensional surface model of image pairs.

2. A sea wave surface three-dimensional model building system based on a stereo mapping mode is characterized in that measurement centers of a CCD sensor I (2), an AHRS sensor I (3) and a GNSS receiver I (1) at the left part of the stereo mapping system are located on the same vertical line, and measurement centers of a CCD sensor II (5), an AHRS sensor II (6) and a GNSS receiver II (4) at the right part of the stereo mapping system are located on the same vertical line.

3. A sea wave surface three-dimensional model building system based on a stereo mapping mode according to claim 1, wherein a CCD sensor I (2) and a CCD sensor II (5) in the stereo mapping system are connected with a signal synchronization trigger (9) through cables.

4. A wave surface three-dimensional model building system based on a stereo mapping mode according to claim 1, wherein the stereo mapping system is connected with a cross rod (7) of a mounting bracket through a rotating vertical shaft, and the stereo mapping system rotates around the rotating vertical shaft.

5. An ocean wave surface three-dimensional model building system based on a stereo mapping mode according to claim 1, wherein a CCD sensor I (2), an AHRS sensor I (3), a GNSS receiver I (1), a CCD sensor II (5), an AHRS sensor II (6) and a GNSS receiver II (4) in the stereo mapping system are connected with a data processing system (10) through signal lines.

6. The ocean wave surface three-dimensional model building system based on the stereogram mode according to claim 1, wherein the data processing system (10) is used for storing and processing data of the CCD sensor I (2), the CCD sensor II (5), the AHRS sensor I (3), the AHRS sensor II (6), the GNSS receiver I (1) and the GNSS receiver II (4), and is provided with a high-precision clock capable of stamping time stamps on data input by the sensors.

7. A method for constructing a three-dimensional model of a sea wave surface based on a stereo mapping mode is characterized by comprising the following steps:

the method comprises the following steps: the whole set of system for constructing the three-dimensional model of the surface of the sea wave is fixed on a sea carrier, so that the view field is ensured to be free of obstruction;

step two: adjusting the position and the direction of the stereo mapping system on the cross rod (7) to ensure that the visual fields of the CCD sensor I (2) and the CCD sensor II (5) are aligned with the same sea area;

step three: starting a stereo mapping system, and simultaneously acquiring an image pair of the same sea area;

step four: starting a data processing system (10), and recording and processing data of a CCD sensor I (2), a CCD sensor II (5), an AHRS sensor I (3), an AHRS sensor II (6), a GNSS receiver I (1) and a GNSS receiver II (4);

step five: and fusing data of the stereo mapping system, and realizing the construction of the three-dimensional model of the sea wave surface by using a software system.

8. A method for building a three-dimensional model of a sea wave surface based on a stereo mapping mode as claimed in claim 7, wherein in the second step, the positions of the left and right parts of the stereo mapping system on the cross bar of the mounting bracket can be adjusted, and the distance between the left and right parts can be accurately calculated through scales on the cross bar.

9. The method for constructing the three-dimensional model of the surface of the sea wave based on the stereo mapping mode is characterized in that in the fifth step, data of a stereo mapping system comprise images acquired by a CCD sensor and camera parameters; rolling, pitching, heading and heave depth information collected by the AHRS sensor; positioning data and time information acquired by the GNSS receiver; timestamp information when each sensor collects data; and scale information of the left part and the right part of the stereopair on the cross bar (7).

Technical Field

The invention relates to the technical field of sea wave observation, in particular to a system and a method for constructing a three-dimensional model of a sea wave surface based on a stereo mapping mode.

Background

Sea waves have been the focus of research in the physical oceanographic community because of their influence and effect on other marine power processes. On the basis of the development of a sea wave numerical mode, sea wave data assimilation is an effective way for improving sea wave simulation and prediction precision, and a high-precision sea wave assimilation mode depends on accurate sea wave observation data.

One type of current sea wave observation methods are point measurement methods, such as a pressure type wave measurement method, a buoy type wave measurement method and the like, but due to single-point observation, the devices and the methods can only obtain data on a local point line within specific time, and cannot comprehensively reflect the real sea condition of a sea area to be measured; due to the restriction of regional distribution, density and observation time of observation instruments, large-area measurement data and a relatively reliable ocean wave direction spectrum are difficult to obtain by the method.

The other method is a 'surface' measurement method, such as a radar method, but the radar observation method has low repeated sampling time, cannot provide observation data with high time resolution, has low precision for the observation method of sea surface micro-scale waves, and has difficulty in meeting the requirements of sea wave theory and part of related application research because the accuracy of sea wave direction spectrum information acquired by the radar method depends on the selection of inversion parameters and contains empirical components.

Disclosure of Invention

The invention aims at the defects of the prior art and provides a system and a method for constructing a three-dimensional model of a sea wave surface based on a stereo mapping mode.

The technical scheme adopted by the invention for solving the technical problems is as follows:

1. the invention provides a sea wave surface three-dimensional model building system based on a stereo mapping mode, which comprises: the system comprises a stereo mapping system, a mounting bracket and a data processing system;

the three-dimensional mapping system consists of a left part and a right part and comprises a CCD sensor I, a CCD sensor II, an AHRS sensor I, an AHRS sensor II, a GNSS receiver I, a GNSS receiver II and a signal synchronization trigger;

the GNSS receiver is fixedly connected to the upper part of the first CCD sensor through a support, and the first CCD sensor is a left part; similarly, the CCD sensor II is fixedly connected to the upper part of the AHRS sensor II through a flange plate, and the GNSS receiver II is fixedly connected to the upper part of the CCD sensor II through a support, namely the right part;

the mounting bracket comprises a cross rod, a frame and a supporting leg;

the left part and the right part of the three-dimensional mapping system can be adjusted to slide in the grooves, namely the relative positions of the left part and the right part are adjusted; the cross bar is provided with scale marks, and the displacement of the measurement centers of the left part and the right part of the stereo mapping system on the cross bar can be fed back and recorded;

wherein the frame and support legs are used to support the cross bar;

the data processing system comprises a software system and a computer and is used for realizing image matching of image pairs, image orientation, target recognition and construction of a sea wave three-dimensional surface model.

Optionally, measurement centers of the first CCD sensor, the first AHRS sensor, and the first GNSS receiver on the left of the stereoscopic mapping system are on the same vertical line, and measurement centers of the second CCD sensor, the second AHRS sensor, and the second GNSS receiver on the right of the stereoscopic mapping system are on the same vertical line.

Optionally, the first CCD sensor and the second CCD sensor in the stereoscopic mapping system are connected to the signal synchronization trigger via cables.

Optionally, the stereoscopic mapping system is connected with the cross bar of the mounting bracket through a rotating vertical shaft, and the stereoscopic mapping system rotates around the rotating vertical shaft.

Optionally, the first CCD sensor, the first AHRS sensor, the first GNSS receiver, the second CCD sensor, the second AHRS sensor, and the second GNSS receiver in the stereogram system are connected to a data processing system through signal lines.

Optionally, the data processing system is configured to store and process data of the first CCD sensor, the second CCD sensor, the first AHRS sensor, the second AHRS sensor, the first GNSS receiver, and the second GNSS receiver, and has a high-precision clock, and can stamp data input by each sensor with a time stamp.

2. The invention also provides a method for constructing the three-dimensional model of the surface of the sea wave in a three-dimensional mapping mode, which comprises the following steps:

the method comprises the following steps: the whole set of system for constructing the three-dimensional model of the surface of the sea wave is fixed on a sea carrier, so that the view field is ensured to be free of obstruction;

step two: adjusting the position and the direction of the stereo mapping system on the cross bar to ensure that the visual fields of the CCD sensor I and the CCD sensor II are aligned to the same sea area;

step three: starting a stereo mapping system, and simultaneously acquiring an image pair of the same sea area;

step four: starting a data processing system, and recording and processing data of a CCD sensor I, a CCD sensor II, an AHRS sensor I, an AHRS sensor II, a GNSS receiver I and a GNSS receiver II;

step five: and fusing data of the stereo mapping system, and realizing the construction of the three-dimensional model of the sea wave surface by using a software system.

Optionally, in the second step, the distance between the left part and the right part is accurately calculated through the scales on the cross rod, so that the position of the left part and the right part on the cross rod of the mounting bracket in the stereoscopic mapping system is adjusted.

Optionally, in step five, the data of the stereo mapping system includes images acquired by the CCD sensor and camera parameters; rolling, pitching, heading and heave depth information collected by the AHRS sensor; positioning data and time information acquired by the GNSS receiver; timestamp information when each sensor collects data; and scale information of the left part and the right part of the stereopair on the cross bar.

Compared with the prior art, the sea wave surface three-dimensional model building system and method based on the stereo mapping mode have the beneficial effects that:

the invention synchronously acquires two-dimensional images on the sea surface by using two CCD sensors, and measures a three-dimensional space-time model of the sea surface through the processes of image matching, air-to-air three-resolution and the like, thereby obtaining the sea wave direction spectrum. According to the method, the sea wave direction spectrum is obtained through space synchronous measurement, so that the defect of other sea wave observation means aiming at direction spectrum observation can be overcome; and continuous high-frequency sampling on the sea surface can obtain a time sequence of a sea wave direction spectrum, which has very important significance for researching the sea wave propagation evolution law.

Drawings

In order to more clearly describe the working principle of the system and the method for constructing the three-dimensional model of the surface of the sea wave based on the stereo mapping mode, the following schematic diagram is attached for further explanation.

FIG. 1 is a schematic structural diagram of a sea wave surface three-dimensional model construction system based on a stereo mapping mode;

fig. 2 is a method step diagram of the sea wave surface three-dimensional model building system based on a stereo mapping mode.

The reference numerals in the figures denote:

1. a GNSS receiver I; 2. a first CCD sensor; 3. an AHRS sensor I; 4. a GNSS receiver II; 5. a CCD sensor II; 6. an AHRS sensor II; 7. a cross bar; 8. a frame and support legs; 9. a synchronization trigger; 10. a data processing system.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to fig. 1 and 2 in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

According to the system and the method for constructing the three-dimensional model of the sea wave surface based on the three-dimensional mapping mode, the three-dimensional model of the sea wave surface can be constructed in real time by observing and processing data in the three-dimensional mapping mode on the sea wave surface, so that a high-precision time sequence of a sea wave direction spectrum is obtained. Example one

As shown in fig. 1, the sea wave surface three-dimensional model building system based on the stereo mapping mode of the invention comprises a stereo mapping system, a mounting bracket and a data processing and control system.

1) The stereo mapping system consists of a left part and a right part and comprises a CCD sensor I2, a CCD sensor II 5, an AHRS sensor I3, an AHRS sensor II 6, a GNSS receiver I1, a GNSS receiver II 4 and a signal synchronization trigger 9. The first CCD sensor 2 is fixedly connected to the upper portion of the first AHRS sensor 3 through a flange plate, the first GNSS receiver 1 is fixedly connected to the upper portion of the first CCD sensor 2 through a support, namely the positions of the first CCD sensor, the second AHRS sensor and the GNSS receiver are relatively fixed, and the three positions are called as the left portion of a three-dimensional mapping system; similarly, the second CCD sensor 5 is fixedly connected to the upper portion of the second AHRS sensor 6 through a flange, the second GNSS receiver 4 is fixedly connected to the upper portion of the second CCD sensor 5 through a support, and the relative positions of the second CCD sensor and the GNSS receiver are also fixed, so that the system is called as the right portion of the three-dimensional mapping system.

2) The mounting bracket comprises a cross rod 7, a frame and a supporting leg 8, wherein the cross rod 7 is used for fixedly supporting the three-dimensional mapping system, a groove sliding rail is arranged in the middle of the cross rod 7, and the left part and the right part of the three-dimensional mapping system can be adjusted to slide in the groove, namely the relative position of the left part and the right part is adjusted; the cross rod 7 is provided with scale marks, so that the displacement of the measurement centers of the left part and the right part of the stereo mapping system on the cross rod 7 can be fed back and recorded, and the relative positions of the left part and the right part can be determined. Wherein the frame and support legs 8 are used to support the crossbar 7.

3) The data processing system 10 includes a software system and a computer, and the software system can implement image matching, image orientation, target recognition and construction of a sea wave three-dimensional surface model of image pairs.

On the basis of the structure, the measurement centers of the CCD sensor I2, the AHRS sensor I3 and the GNSS receiver I1 of the stereo mapping system are positioned on the same vertical line, so that the calculation is simplified and the calibration is avoided.

On the basis of the structure, the measurement centers of the CCD sensor II 5, the AHRS sensor II 6 and the GNSS receiver II 4 of the stereo mapping system are positioned on the same vertical line, so that the calculation is simplified and the calibration is avoided.

On the basis of the structure, the two CCD sensors in the stereo mapping system are connected with a signal synchronization trigger 9, such as a rising edge trigger or a falling edge trigger, through cables, so that the two CCD sensors can be ensured to capture sea surface images at the same time.

On above-mentioned structure basis, three-dimensional mapping system is connected with the horizontal pole 7 of installing support through rotatory vertical axis, and adjustable three-dimensional mapping system is rotatory around rotatory vertical axis, is convenient for adjust the field of vision of seawave survey district or CCD sensor like this, and rotatory angle can be obtained by AHRS sensor record information completely, need not to set up alone and surveys the angle scale.

On the basis of the structure, the CCD sensor, the AHRS sensor and the GNSS receiver in the stereo mapping system are connected with the data processing system 10 through signal lines, and the data processing system 10 can receive data of each sensor in real time.

In addition to the above configuration, the data processing system 10 can store and process data of the CCD sensor, the AHRS sensor, and the GNSS receiver, has a high-precision clock, and can time-stamp data input from each sensor. The data collected by the CCD sensor comprises images and camera parameters, the data collected by the AHRS sensor comprises rolling, pitching, heading and heave depth information, and the data collected by the GNSS receiver comprises positioning data and time information.

Example two

With reference to fig. 2, the method for constructing the three-dimensional model of the surface of the sea wave of the offshore carrier of the present invention includes the following steps:

the method comprises the following steps: the whole set of system for constructing the three-dimensional model of the surface of the sea wave is fixed on a sea carrier, so that the view field is ensured to be free of obstruction;

step two: the position and the direction of the stereo mapping system on the cross rod 7 are adjusted to ensure that the visual fields of the two CCD sensors are aligned to the same sea area;

step three: starting a stereo mapping system, and simultaneously capturing an image pair of the same sea area;

step four: starting the data processing system 10, and recording and processing data of the CCD sensor, the AHRS sensor and the GNSS receiver;

step five: and data of the stereo mapping system are fused, and relative matching and orientation and the construction of a three-dimensional model of the sea wave surface are realized by using a software system.

In the second step of the method, when the positions of the left part and the right part of the stereogram system on the cross rod 7 of the mounting bracket are adjusted, the distance between the measurement centers of the left part and the right part can be accurately calculated through the scales on the cross rod 7.

In the fifth step of the method, the data fused with the stereo mapping system comprise images acquired by a CCD sensor and camera parameters; the AHRS sensor collects information of rolling, pitching, heading and heave depth; positioning data and time information acquired by the GNSS receiver; timestamp information when each sensor collects data; and scale information on the rail 7 for the left and right of the stereopair.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.