A binocular vision hazard source ranging method and system in extreme environments

Abstract

The present invention provides a binocular vision hazard source ranging method and system in extreme environments, including: creating a multi-dimensional extreme environment scene, and controlling the binocular camera to perform image simulation acquisition in the multi-dimensional extreme environment scene based on the binocular vision ranging protocol, and constructing a multi-dimensional ranging parameter adjustment strategy library based on the image simulation acquisition results; calibrating the binocular camera parameters according to the multi-dimensional ranging parameter adjustment strategy library based on the on-site environmental characteristics, and respectively collecting hazard source scene images based on the parameter calibration results; performing feature matching on the hazard source scene images to obtain feature differences, and determining the target distance of the hazard source based on the feature differences and the binocular camera operating parameters. Accurate and effective detection of the target distance of the hazard source is achieved, ensuring the safety factor of the site, and also improving the accuracy and reliability of hazard source ranging.

Description

Technical Field

[0001] The present invention relates to the technical field of distance measurement, and in particular to a binocular vision hazard source distance measurement method and system in extreme environments. Background Art

[0002] Binocular vision is a technology that simulates the human binocular vision system to measure the distance and position of an object. It uses two cameras to simultaneously shoot the same object and calculates the difference between the two images to determine the distance and position of the object.

[0003] However, binocular vision ranging is currently susceptible to interference from external factors, especially in extremely harsh environments, such as lighting conditions, occlusion, and surface reflections of objects. These factors can cause image quality to deteriorate, thereby affecting the accuracy and reliability of ranging. Since the distance to the source of danger cannot be accurately and effectively detected, the safety hazard is greatly increased.

[0004] Therefore, in order to overcome the above-mentioned defects, the present invention provides a binocular vision hazard source ranging method and system in extreme environments. Summary of the invention

[0005] The present invention provides a binocular vision hazard source ranging method and system in extreme environments, which are used to create a multi-dimensional extreme environment scene and control a binocular camera to perform image simulation acquisition in the multi-dimensional extreme environment scene, provide convenience for building a multi-dimensional ranging parameter adjustment strategy library, and analyze the obtained image simulation acquisition results to achieve accurate and reliable construction of the multi-dimensional ranging parameter adjustment strategy library, and provide a reference basis for parameter calibration of binocular cameras in different environments. Secondly, the operating parameters of binocular cameras in different environments are quickly and effectively adjusted through the obtained multi-dimensional ranging parameter adjustment strategy library, so as to achieve fast and effective acquisition of hazard source scene images, and provide data support for hazard source ranging. Finally, the obtained hazard source scene images are analyzed to achieve accurate and effective detection of the target distance of the hazard source, thereby ensuring the safety factor on site and improving the accuracy and reliability of hazard source ranging.

[0006] The present invention provides a binocular vision hazard source ranging method in extreme environments, comprising:

[0007] Step 1: Create a multi-dimensional extreme environment scene, and control the binocular camera to perform image simulation acquisition in the multi-dimensional extreme environment scene based on the binocular visual ranging protocol, and build a multi-dimensional ranging parameter adjustment strategy library based on the image simulation acquisition results;

[0008] Step 2: Based on the on-site environmental characteristics, the binocular camera is calibrated according to the multi-dimensional ranging parameter adjustment strategy library, and the hazardous source scene images are collected based on the parameter calibration results;

[0009] Step 3: Perform feature matching on the hazard source scene image to obtain feature differences, and determine the target distance of the hazard source based on the feature differences and the binocular camera operating parameters.

[0010] Preferably, a binocular vision hazard source ranging method in an extreme environment, in step 1, creating a multi-dimensional extreme environment scene, including:

[0011] Determine the scenario framework based on the scenario construction requirements, determine the type of extreme environment to be constructed, and retrieve relevant parameters from the server based on the type of extreme environment to be constructed;

[0012] Determine the environmental parameter range of the extreme environment type to be constructed based on the relevant parameters, and determine the parameter adaptation range of the extreme environment scene of the extreme environment type to be constructed based on the environmental parameter range;

[0013] Building a scene physical model based on a computer according to the scene framework, and configuring model parameters of the scene physical model based on relevant parameters of the extreme environment type to be constructed and the corresponding parameter adaptation range;

[0014] Based on the configuration results, multi-dimensional extreme environment scenarios are obtained.

[0015] Preferably, a binocular vision hazard source ranging method in an extreme environment configures the model parameters of the scene physical model based on the relevant parameters of the extreme environment type to be constructed and the corresponding parameter adaptation range, including:

[0016] Obtain relevant parameters corresponding to the extreme environment type to be constructed, and determine the environment category existing under the corresponding extreme environment type to be constructed based on the relevant parameters;

[0017] Perform computer-based simulation of environmental categories and logically associate the simulation results with the scene physical model;

[0018] Determine the step division node of the parameter adaptation range based on the difference of environmental representation, and divide the parameter adaptation range based on the successive division node to obtain a single parameter adaptation set;

[0019] Based on a single parameter adaptation set, multi-node model parameter adaptation is performed on the logically associated scene physical model to obtain the corresponding extreme environment scene under different environmental parameter values ​​for each extreme environment type to be constructed;

[0020] The extreme environmental scenarios corresponding to different environmental parameter values ​​under the same extreme environment type to be constructed are classified to obtain multi-dimensional extreme environmental scenarios.

[0021] Preferably, a binocular vision hazard source ranging method in an extreme environment, in step 1, controlling a binocular camera to perform image simulation acquisition in multi-dimensional extreme environment scenes based on a binocular vision ranging protocol, including:

[0022] Obtain the binocular vision ranging protocol of the binocular camera, parse the binocular vision test protocol, and obtain the execution standard parameters of the binocular camera;

[0023] Obtain the obtained multi-dimensional extreme environment scene, and determine the acquisition position of the binocular camera and the deployment position of the reference object in the multi-dimensional computing environment scene;

[0024] Based on the acquisition position of the binocular camera and the deployment position of the reference object, the binocular camera is controlled to perform multiple image simulation acquisitions with different performance parameter values ​​on the reference object according to the execution standard parameters, and the performance parameter value of the binocular camera during each image simulation acquisition is associated and bound with the corresponding image simulation acquisition result;

[0025] Based on the association binding results, the multi-dimensional image simulation acquisition results in each dimension of extreme environment scenes are obtained.

[0026] Preferably, in a binocular vision hazard source ranging method in an extreme environment, in step 1, a multi-dimensional ranging parameter adjustment strategy library is constructed based on the image simulation acquisition result, including:

[0027] The obtained image simulation acquisition results are obtained, and based on the performance parameter adjustment direction of the binocular camera, the image simulation acquisition results of different frequencies under the same extreme environment are sorted to obtain an image simulation acquisition result sequence;

[0028] Based on the multi-dimensional extreme environment scene, the environmental parameters corresponding to each frequency of image simulation acquisition are obtained, and the performance parameters of the binocular camera corresponding to each image simulation acquisition result are obtained. The environmental parameters and the binocular camera performance parameters are sorted based on the sorting results of the image simulation acquisition results of different frequencies, and the environmental parameter sequence and the binocular camera performance parameter sequence are obtained.

[0029] The starting point of the image simulation acquisition result sequence, environmental parameter sequence and binocular camera performance parameter sequence under the same extreme environment is aligned, and based on the starting point alignment result, the image simulation acquisition result sequence is traversed according to the image acquisition requirements to determine the optimal image simulation acquisition result under the same extreme environment;

[0030] Based on the optimal image simulation acquisition results, the corresponding target environment parameters and the optimal binocular camera performance parameter values ​​are determined, and the bidirectional performance parameter values ​​of the optimal binocular camera performance parameter values ​​are analyzed based on the binocular camera performance parameter sequence to obtain the bidirectional data change trend characteristics of the optimal binocular camera performance parameter values;

[0031] Based on the change trend characteristics of the two-way data, the parameter adjustment direction and parameter adjustment threshold of each binocular camera performance parameter in the binocular camera performance parameter sequence relative to the optimal binocular camera performance parameter value are determined respectively, and the binocular camera performance parameter adjustment strategy under the corresponding extreme environment is obtained based on the parameter adjustment direction and the parameter adjustment threshold;

[0032] The target environmental parameters, the optimal binocular camera performance parameter values ​​and the binocular camera performance parameter adjustment strategy under the same extreme environment are associated, and the associated results are recorded and stored to obtain a multi-dimensional ranging parameter adjustment strategy library.

[0033] Preferably, a binocular vision hazard source ranging method in an extreme environment, in step 2, based on the on-site environment characteristics, the binocular camera is calibrated according to the multi-dimensional ranging parameter adjustment strategy library, and the hazard source scene images are respectively collected based on the parameter calibration results, including:

[0034] Based on the preset sensor, the on-site environment is monitored for a preset time period, and the monitoring results of the preset time period are averaged, and the environmental characterization parameters of the on-site environment are obtained based on the averaged processing results;

[0035] Obtaining on-site environmental characteristics based on environmental characterization parameters, and matching target ranging parameter adjustment strategies from a multi-dimensional ranging parameter adjustment strategy library based on the on-site environmental characteristics;

[0036] Adjust the internal and external parameters of the binocular camera based on the target ranging parameter adjustment strategy, and complete the parameter calibration of the binocular camera based on the adjustment results;

[0037] Based on the parameter calibration results, the binocular cameras are controlled to collect images of the hazard sources respectively to obtain the hazard source scene images.

[0038] Preferably, a binocular vision hazard source ranging method in an extreme environment, obtaining a hazard source scene image, comprises:

[0039] Construct a data cache space, and first split the data cache space based on multi-dimensional extreme environment scenarios to obtain independent sub-storage spaces;

[0040] Each independent sub-storage space is evenly split to obtain parallel storage areas, and the parallel storage areas are marked with belonging objects;

[0041] Extracting source information of the hazardous source scene image, and determining source terminals corresponding to different hazardous source scene images based on the source information;

[0042] The source terminal and the belonging object marking results are matched, and the hazard source scene image is stored in a parallel storage area based on the matching result.

[0043] Preferably, a binocular vision hazard source ranging method in an extreme environment, in step 3, feature matching is performed on the hazard source scene image to obtain feature differences, and the target distance of the hazard source is determined based on the feature differences and binocular camera operating parameters, including:

[0044] Acquire a hazardous source scene image based on a binocular camera, preprocess the hazardous source scene image, and determine pixel values ​​of pixel points in the hazardous source scene image based on the preprocessing result;

[0045] Analyze the pixel values ​​of the pixels around each pixel based on the preset distance to obtain the gradient information of each pixel, and extract the image feature points of the hazard source scene image based on the gradient information;

[0046] Matching the image feature points of the hazardous source scene image captured by the binocular camera to obtain feature point pairs, and determining the feature differences existing in the feature point pairs based on the matching results of the feature point pairs;

[0047] The position difference between the hazard source and the binocular camera is determined based on the feature difference. At the same time, the imaging characteristics of the binocular camera are determined based on the operating parameters of the binocular camera. The position difference is analyzed based on the imaging characteristics to obtain the target distance between the hazard source and the binocular camera.

[0048] The present invention provides a binocular vision hazard source ranging system in extreme environments, comprising:

[0049] A strategy library building module is used to create multi-dimensional extreme environment scenes, and control the binocular camera to perform image simulation acquisition in multi-dimensional extreme environment scenes based on the binocular visual ranging protocol, and build a multi-dimensional ranging parameter adjustment strategy library based on the image simulation acquisition results;

[0050] An image acquisition module is used to calibrate the binocular camera parameters based on the on-site environmental characteristics according to the multi-dimensional ranging parameter adjustment strategy library, and to collect hazardous source scene images based on the parameter calibration results;

[0051] The distance determination module is used to perform feature matching on the hazard source scene image, obtain feature differences, and determine the target distance of the hazard source based on the feature differences and the operating parameters of the binocular camera.

[0052] Preferably, a binocular vision hazard source ranging system in extreme environments, a strategy library building module, includes:

[0053] A parameter retrieving unit, used to determine a scenario framework based on scenario construction requirements, determine the type of extreme environment to be constructed, and retrieve relevant parameters from a server based on the type of extreme environment to be constructed;

[0054] A parameter adaptation range determination unit, used to determine the environmental parameter range of the extreme environment type to be constructed based on relevant parameters, and determine the parameter adaptation range of the extreme environment scene of the extreme environment type to be constructed based on the environmental parameter range;

[0055] A model configuration unit, used to build a scene physical model based on a computer according to the scene framework, and configure model parameters of the scene physical model based on relevant parameters of the extreme environment type to be constructed and the corresponding parameter adaptation range;

[0056] The scenario construction unit is used to obtain multi-dimensional extreme environment scenarios based on the configuration results.

[0057] Compared with the prior art, the present invention has the following beneficial effects:

[0058] 1. By creating multi-dimensional extreme environment scenes and controlling the binocular camera to perform image simulation acquisition in multi-dimensional extreme environment scenes, it provides convenience for the construction of a multi-dimensional ranging parameter adjustment strategy library, and analyzes the obtained image simulation acquisition results to achieve accurate and reliable construction of the multi-dimensional ranging parameter adjustment strategy library, which provides a reference for parameter calibration of binocular cameras in different environments. Secondly, the multi-dimensional ranging parameter adjustment strategy library is used to quickly and effectively adjust the operating parameters of binocular cameras in different environments, so as to achieve fast and effective acquisition of hazardous source scene images, and provide data support for hazardous source ranging. Finally, the obtained hazardous source scene images are analyzed to achieve accurate and effective detection of the target distance of the hazardous source, ensuring the safety factor on site and improving the accuracy and reliability of hazardous source ranging.

[0059] 2. Create a scene framework according to the scene construction requirements. At the same time, retrieve the corresponding simulation parameters from the server according to the type of extreme environment to be constructed, so as to determine the environmental parameter range under different extreme environments according to the simulation parameters, thereby facilitating the accurate and effective determination of the parameter adaptation range under different extreme environments according to the environmental parameter range. Finally, build a scene physical model through the scene framework, and configure the model parameters of the scene physical model through relevant parameters and corresponding parameter adaptation ranges, so as to realize the accurate and effective creation of multi-dimensional extreme environment scenes, provide convenience for determining the corresponding performance parameters of binoculars under different extreme environments, and ensure the accuracy of ranging of dangerous sources.

[0060] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures specifically pointed out in this application document.

[0061] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0063] Figure 1 This is a flow chart of a binocular vision hazard source ranging method in an extreme environment in an embodiment of the present invention;

[0064] Figure 2 This is a flow chart of step 1 in a binocular vision hazard source ranging method in an extreme environment in an embodiment of the present invention;

[0065] Figure 3 It is a structural diagram of a binocular vision hazard source ranging system in an extreme environment in an embodiment of the present invention. DETAILED DESCRIPTION

[0066] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0067] Embodiment 1:

[0068] This embodiment provides a binocular vision hazard source distance measurement method in extreme environments, such as Figure 1 As shown, including:

[0069] Step 1: Create a multi-dimensional extreme environment scene, and control the binocular camera to perform image simulation acquisition in the multi-dimensional extreme environment scene based on the binocular visual ranging protocol, and build a multi-dimensional ranging parameter adjustment strategy library based on the image simulation acquisition results;

[0070] Step 2: Based on the on-site environmental characteristics, the binocular camera is calibrated according to the multi-dimensional ranging parameter adjustment strategy library, and the hazardous source scene images are collected based on the parameter calibration results;

[0071] Step 3: Perform feature matching on the hazard source scene image to obtain feature differences, and determine the target distance of the hazard source based on the feature differences and the binocular camera operating parameters.

[0072] In this embodiment, the multi-dimensional extreme environment scene refers to the creation of simulation scenes under various types of extreme environments, such as high temperature, low temperature, high pressure, high radiation, and simulation scenes with severe occlusion by objects. The purpose is to conduct experiments in a large number of different extreme environments to determine the adjustment parameters and adjustment strategies for the binocular camera.

[0073] In this embodiment, the binocular vision ranging protocol is known in advance and is used to characterize the standards and purposes that need to be met when the binocular camera works in different environments.

[0074] In this embodiment, the multi-dimensional ranging parameter adjustment strategy library refers to a database obtained by summarizing the strategies for adjusting the performance parameters of the binocular camera in different environments obtained after analyzing the image simulation acquisition in different extreme environmental scenes and the correspondence between the environmental parameters.

[0075] In this embodiment, the on-site environmental characteristics refer to information such as on-site environmental parameters when the hazard source distance measurement is currently required.

[0076] In this embodiment, parameter calibration refers to adjusting the operating parameters of the binocular camera by matching the corresponding ranging parameter adjustment strategy from the multi-dimensional ranging parameter adjustment strategy library according to the on-site environmental characteristics, so as to ensure the effect of image acquisition.

[0077] In this embodiment, the feature difference refers to the difference between the danger source scene images respectively captured by the binocular cameras.

[0078] In this embodiment, the target distance refers to the actual distance between the danger source and the binocular camera.

[0079] The working principle and beneficial effects of the above technical solution are as follows: by creating a multi-dimensional extreme environment scene and controlling the binocular camera to perform image simulation acquisition in the multi-dimensional extreme environment scene, it provides convenience for building a multi-dimensional ranging parameter adjustment strategy library, and analyzes the obtained image simulation acquisition results to achieve accurate and reliable construction of the multi-dimensional ranging parameter adjustment strategy library, which provides a reference for parameter calibration of binocular cameras in different environments. Secondly, the operating parameters of the binocular camera in different environments are quickly and effectively adjusted through the obtained multi-dimensional ranging parameter adjustment strategy library, so as to achieve fast and effective acquisition of hazardous source scene images, and provide data support for hazardous source ranging. Finally, the obtained hazardous source scene images are analyzed to achieve accurate and effective detection of the target distance of the hazardous source, thereby ensuring the safety factor on site and improving the accuracy and reliability of hazardous source ranging.

[0080] Embodiment 2:

[0081] Based on Example 1, this example provides a binocular vision hazard source distance measurement method in an extreme environment, such as Figure 2 As shown, in step 1, a multi-dimensional extreme environment scenario is created, including:

[0082] Step 101: Determine a scenario framework based on scenario construction requirements, determine the type of extreme environment to be constructed, and retrieve relevant parameters from a server based on the type of extreme environment to be constructed;

[0083] Step 102: determining an environmental parameter range of the extreme environment type to be constructed based on relevant parameters, and determining a parameter adaptation range of an extreme environment scene corresponding to the extreme environment type to be constructed based on the environmental parameter range;

[0084] Step 103: Building a scene physical model based on the scene framework based on a computer, and configuring model parameters of the scene physical model based on relevant parameters of the extreme environment type to be constructed and the corresponding parameter adaptation range;

[0085] Step 104: Obtain a multi-dimensional extreme environment scenario based on the configuration results.

[0086] In this embodiment, the scene framework refers to information such as the area and outline of the scene determined according to the scene construction requirements, wherein the scene construction requirements are known in advance and are used to characterize the requirements and standards for multi-dimensional extreme environment scene construction.

[0087] In this embodiment, the type of extreme environment to be constructed is known in advance, including high temperature, low temperature, high pressure, high radiation, and severe obstruction by objects.

[0088] In this embodiment, the relevant parameters include environmental parameters and material characteristics.

[0089] In this embodiment, the environmental parameter range refers to the adjustable range of different environmental parameters in extreme environments, for example, it may be an adjustment interval of temperature values ​​in a high temperature environment.

[0090] In this embodiment, the parameter adaptation range refers to the range of environmental parameter configuration for multi-dimensional extreme environment scenes when constructing multi-dimensional extreme environment scenes, and is determined according to the environmental parameter range.

[0091] The working principle and intended effect of the above technical solution are: by first creating a scene framework according to the scene construction requirements, and at the same time, retrieving corresponding simulation parameters from the server according to the type of extreme environment to be constructed, the environmental parameter range under different extreme environments is determined according to the simulation parameters, so as to facilitate the accurate and effective determination of the parameter adaptation range under different extreme environments according to the environmental parameter range. Finally, the scene physical model is constructed through the scene framework, and the model parameters of the scene physical model are configured respectively through relevant parameters and corresponding parameter adaptation ranges, so as to realize the accurate and effective creation of multi-dimensional extreme environment scenes, provide convenience for determining the corresponding performance parameters of binoculars under different extreme environments, and ensure the accuracy of ranging of dangerous sources.

[0092] Embodiment 3:

[0093] On the basis of Example 2, this embodiment provides a binocular vision hazard source ranging method in an extreme environment, and configures the model parameters of the scene physical model based on the relevant parameters of the extreme environment type to be constructed and the corresponding parameter adaptation range, including:

[0094] Obtain relevant parameters corresponding to the extreme environment type to be constructed, and determine the environment category existing under the corresponding extreme environment type to be constructed based on the relevant parameters;

[0095] Perform computer-based simulation of environmental categories and logically associate the simulation results with the scene physical model;

[0096] Determine the step division node of the parameter adaptation range based on the difference of environmental representation, and divide the parameter adaptation range based on the successive division node to obtain a single parameter adaptation set;

[0097] Based on a single parameter adaptation set, multi-node model parameter adaptation is performed on the logically associated scene physical model to obtain the corresponding extreme environment scene under different environmental parameter values ​​for each extreme environment type to be constructed;

[0098] The extreme environmental scenarios corresponding to different environmental parameter values ​​under the same extreme environment type to be constructed are classified to obtain multi-dimensional extreme environmental scenarios.

[0099] In this embodiment, the environment category refers to the type of environmental parameters included in each extreme environment type to be constructed, such as the type of gas, temperature, and pressure.

[0100] In this embodiment, the logical association refers to associating the obtained environment category simulation result with the obtained scene physical model, that is, perfecting the constructed scene physical model through the environment category parameters.

[0101] In this embodiment, the difference in environmental representation refers to the difference in environmental performance corresponding to different environmental parameter values. For example, when the temperature is 20-25 degrees, the environmental representation is the same phenomenon, that is, comfortable temperature. When the temperature is 25-35 degrees, the environmental representation is the same phenomenon, that is, hot temperature.

[0102] In this embodiment, the step-wise division of nodes refers to dividing the parameter adaptation range of the same stage according to differences in environmental representations, in order to accurately and effectively configure the scene physical model in a hierarchical manner according to the division results.

[0103] In this embodiment, a single parameter adaptation set refers to a data set corresponding to each stage obtained by dividing the parameter adaptation range into nodes.

[0104] In this embodiment, multi-node model parameter adaptation refers to configuring the model parameters of the scene physical model respectively through the obtained single parameter adaptation set, so as to effectively construct extreme environment scenes with different value levels under the same extreme environment type.

[0105] The working principle and beneficial effects of the above technical solution are: by analyzing the relevant parameters corresponding to the extreme environment type to be constructed, the environmental category existing under the extreme environment type to be constructed can be accurately and effectively determined; secondly, the environmental type is simulated by computer to improve the scene physical model through the environmental category; finally, the parameter adaptation range is divided into step nodes according to the difference in environmental representation, and the scene physical model after the environmental category is improved is further improved according to the step node division results, thereby realizing the accurate and effective construction of multi-dimensional extreme environment scenes, which provides convenience and guarantee for the distance measurement of hazardous sources in different extreme environments.

[0106] Embodiment 4:

[0107] On the basis of Example 1, this embodiment provides a binocular vision hazard source ranging method in an extreme environment. In step 1, a binocular camera is controlled to perform image simulation acquisition in multi-dimensional extreme environment scenes based on a binocular vision ranging protocol, including:

[0108] Obtain the binocular vision ranging protocol of the binocular camera, parse the binocular vision test protocol, and obtain the execution standard parameters of the binocular camera;

[0109] Obtain the obtained multi-dimensional extreme environment scene, and determine the acquisition position of the binocular camera and the deployment position of the reference object in the multi-dimensional computing environment scene;

[0110] Based on the acquisition position of the binocular camera and the deployment position of the reference object, the binocular camera is controlled to perform multiple image simulation acquisitions with different performance parameter values ​​on the reference object according to the execution standard parameters, and the performance parameter value of the binocular camera during each image simulation acquisition is associated and bound with the corresponding image simulation acquisition result;

[0111] Based on the association binding results, the multi-dimensional image simulation acquisition results in each dimension of extreme environment scenes are obtained.

[0112] In this embodiment, the execution standard parameter refers to the acquisition standard that the binocular camera needs to meet when performing effective image acquisition, that is, the specific operating parameters corresponding to ensuring the quality of the acquired image.

[0113] In this embodiment, multiple image simulation acquisitions with different performance parameter values ​​refer to controlling the binocular camera to adjust the performance parameters to different values ​​and then acquire images of the reference object. After each performance parameter value adjustment, image simulation acquisition will be performed in sequence.

[0114] The working principle and beneficial effects of the above technical solution are: by parsing the binocular vision ranging protocol of the binocular camera, the execution standard parameters of the binocular camera can be accurately and effectively determined; secondly, by determining the acquisition position of the binocular camera and the deployment position of the reference object, the binocular camera is controlled according to the acquisition position of the binocular camera and the deployment position of the reference object to perform multiple image simulation acquisitions of different performance parameter values ​​on the reference object according to the execution standard parameters, thereby ensuring the reliability and comprehensiveness of the image simulation acquisition results obtained by the binocular camera under different performance parameters; finally, the performance parameter values ​​of the binocular camera and the corresponding image simulation acquisition results during each image simulation acquisition are associated and bound, so as to accurately and effectively determine the optimal performance parameters of the binocular camera in different environments.

[0115] Embodiment 5:

[0116] On the basis of Example 1, this embodiment provides a binocular vision hazard source ranging method in an extreme environment. In step 1, a multi-dimensional ranging parameter adjustment strategy library is constructed based on the image simulation acquisition result, including:

[0117] The obtained image simulation acquisition results are obtained, and based on the performance parameter adjustment direction of the binocular camera, the image simulation acquisition results of different frequencies under the same extreme environment are sorted to obtain an image simulation acquisition result sequence;

[0118] Based on the multi-dimensional extreme environment scene, the environmental parameters corresponding to each frequency of image simulation acquisition are obtained, and the performance parameters of the binocular camera corresponding to each image simulation acquisition result are obtained. The environmental parameters and the binocular camera performance parameters are sorted based on the sorting results of the image simulation acquisition results of different frequencies, and the environmental parameter sequence and the binocular camera performance parameter sequence are obtained.

[0119] The starting point of the image simulation acquisition result sequence, environmental parameter sequence and binocular camera performance parameter sequence under the same extreme environment is aligned, and based on the starting point alignment result, the image simulation acquisition result sequence is traversed according to the image acquisition requirements to determine the optimal image simulation acquisition result under the same extreme environment;

[0120] Based on the optimal image simulation acquisition results, the corresponding target environment parameters and the optimal binocular camera performance parameter values ​​are determined, and the bidirectional performance parameter values ​​of the optimal binocular camera performance parameter values ​​are analyzed based on the binocular camera performance parameter sequence to obtain the bidirectional data change trend characteristics of the optimal binocular camera performance parameter values;

[0121] Based on the change trend characteristics of the two-way data, the parameter adjustment direction and parameter adjustment threshold of each binocular camera performance parameter in the binocular camera performance parameter sequence relative to the optimal binocular camera performance parameter value are determined respectively, and the binocular camera performance parameter adjustment strategy under the corresponding extreme environment is obtained based on the parameter adjustment direction and the parameter adjustment threshold;

[0122] The target environmental parameters, the optimal binocular camera performance parameter values ​​and the binocular camera performance parameter adjustment strategy under the same extreme environment are associated, and the associated results are recorded and stored to obtain a multi-dimensional ranging parameter adjustment strategy library.

[0123] In this embodiment, the adjustment direction of the performance parameter adjustment value of the binocular camera refers to the direction of adjusting the magnitude of the performance parameter adjustment value of the binocular camera, for example, it can be adjusted from small to large.

[0124] In this embodiment, the image simulation acquisition result sequence refers to the result obtained by sorting the image simulation acquisition results acquired at different times.

[0125] In this embodiment, the environmental parameter sequence refers to a result obtained by sorting the environmental parameters corresponding to each image simulation acquisition result according to the arrangement order of the image simulation acquisition results.

[0126] In this embodiment, the binocular camera performance parameter sequence refers to a result obtained by sorting the binocular camera performance parameters corresponding to each image simulation acquisition result according to the arrangement order of the image simulation acquisition results.

[0127] In this embodiment, the starting point alignment refers to calibrating the image simulation acquisition result sequence, the environmental parameter sequence, and the binocular camera performance parameter sequence.

[0128] In this embodiment, the image acquisition requirements are known in advance, including requirements on image resolution and image size.

[0129] In this embodiment, the optimal image simulation acquisition result refers to the best image simulation acquisition result acquired by a binocular camera under the same extreme environment.

[0130] In this embodiment, the target environment parameters and the optimal binocular camera performance parameter values ​​refer to specific parameters in the environment parameter sequence and the binocular camera performance parameter sequence that correspond to the optimal image simulation acquisition results, respectively.

[0131] In this embodiment, analyzing the bidirectional performance parameter values ​​of the optimal binocular camera performance parameter value based on the binocular camera performance parameter sequence refers to locking the position of the optimal binocular camera performance parameter value in the binocular camera performance parameter sequence, and analyzing the binocular camera performance parameters in two directions according to the locked position, in order to determine the corresponding value changes when the binocular camera achieves the optimal working effect under the extreme environment in each dimension, that is, the value change characteristics from large to small and from small to large (bidirectional data change trend characteristics).

[0132] In this embodiment, the parameter adjustment direction and the parameter adjustment threshold refer to the parameter value adjustment direction of other binocular camera performance parameters in the binocular camera performance parameter sequence relative to the optimal binocular camera performance parameter value and the corresponding specific adjustment values.

[0133] The working principle and beneficial effects of the above technical solution are as follows: by sorting the collected image simulation acquisition results, the image simulation acquisition result sequence is accurately and effectively constructed, and the environmental parameters and binocular camera performance parameters under the same extreme environment are sorted according to the sorting criteria of the image simulation acquisition result sequence to obtain the environmental parameter sequence and the binocular camera performance parameter sequence; secondly, the image simulation acquisition result sequence, the environmental parameter sequence and the binocular camera performance parameter sequence are aligned with seven starting points to lock the optimal image simulation acquisition result and the corresponding target environmental parameters and the optimal binocular camera performance parameter values ​​according to the alignment result; finally, according to the locked optimal The binocular camera performance parameter value performs a bidirectional performance parameter value analysis on the binocular camera performance parameter sequence, and accurately and effectively determines the parameter adjustment direction and parameter adjustment threshold of the binocular camera in each dimensional extreme environment. Finally, it realizes the accurate and reliable construction of a multi-dimensional ranging parameter adjustment strategy library based on the target environmental parameters, the optimal binocular camera performance parameter values ​​and the binocular camera performance parameter adjustment strategy in the same extreme environment, which provides a reference for the performance parameter adjustment of the binocular camera in different extreme environments, improves the rate of binocular camera performance parameter adjustment, ensures the reliability of hazardous source scene image acquisition, and thus improves the accuracy of hazardous source ranging.

[0134] Embodiment 6:

[0135] On the basis of Example 1, this embodiment provides a binocular vision hazard source ranging method in an extreme environment. In step 2, based on the on-site environment characteristics, the binocular camera is calibrated according to the multi-dimensional ranging parameter adjustment strategy library, and the hazard source scene images are respectively collected based on the parameter calibration results, including:

[0136] Based on the preset sensor, the on-site environment is monitored for a preset time period, and the monitoring results of the preset time period are averaged, and the environmental characterization parameters of the on-site environment are obtained based on the averaged processing results;

[0137] Obtaining on-site environmental characteristics based on environmental characterization parameters, and matching target ranging parameter adjustment strategies from a multi-dimensional ranging parameter adjustment strategy library based on the on-site environmental characteristics;

[0138] Adjust the internal and external parameters of the binocular camera based on the target ranging parameter adjustment strategy, and complete the parameter calibration of the binocular camera based on the adjustment results;

[0139] Based on the parameter calibration results, the binocular cameras are controlled to collect images of the hazard sources respectively to obtain the hazard source scene images.

[0140] In this embodiment, the preset time period is defined in advance and is used to perform environmental monitoring on the on-site environment for a period of time, so as to ensure the reliability of the environmental characteristics finally obtained.

[0141] In this embodiment, the preset sensor is set in advance.

[0142] In this embodiment, the environmental characterization parameter refers to a data parameter that is obtained by averaging the monitoring results of the on-site environment and is capable of characterizing the specific conditions of the on-site environment.

[0143] In this embodiment, the target ranging parameter adjustment strategy refers to a strategy suitable for adjusting the performance parameters of the binocular camera under the current extreme environment, and is one of the multi-dimensional ranging parameter adjustment strategy libraries.

[0144] In this embodiment, the internal parameters refer to the focal length and pixel size of the binocular camera to be adjusted.

[0145] In this embodiment, the external parameters refer to the position and posture of the binocular camera.

[0146] The working principle and beneficial effects of the above technical solution are: by using preset sensors to monitor the on-site environment for a preset time period, and averaging the monitoring results of the preset time period, the on-site environmental characteristics of the on-site environment can be accurately and effectively determined; secondly, according to the on-site environmental characteristics, the target ranging parameter adjustment strategy is matched from the multi-dimensional ranging parameter adjustment strategy library, and the binocular camera is accurately and effectively calibrated according to the target ranging parameter adjustment strategy; finally, according to the parameter calibration results, the binocular camera is controlled to collect images of the hazardous source respectively, ensuring the effectiveness and reliability of the hazardous source scene image finally obtained, and providing a guarantee for hazardous source ranging.

[0147] Embodiment 7:

[0148] Based on Example 6, this embodiment provides a binocular vision hazard source ranging method in an extreme environment, which obtains a hazard source scene image, including:

[0149] Construct a data cache space, and first split the data cache space based on multi-dimensional extreme environment scenarios to obtain independent sub-storage spaces;

[0150] Each independent sub-storage space is evenly split to obtain parallel storage areas, and the parallel storage areas are marked with belonging objects;

[0151] Extracting source information of the hazardous source scene image, and determining source terminals corresponding to different hazardous source scene images based on the source information;

[0152] The source terminal and the belonging object marking results are matched, and the hazard source scene image is stored in a parallel storage area based on the matching result.

[0153] In this embodiment, the data cache space is used to store the danger source scene images collected by the binocular camera.

[0154] In this embodiment, the data cache space is first split based on the multi-dimensional extreme environment scenario to obtain independent sub-storage spaces, which means that the data cache space is split according to the type of the multi-dimensional extreme environment scenario, that is, each dimensional extreme environment corresponds to a storage space, that is, an independent sub-storage space is obtained.

[0155] In this embodiment, each independent sub-storage space is evenly split to obtain a parallel storage area, which means that the obtained independent sub-storage space is evenly split, and the purpose is to allocate an independent storage area, that is, the corresponding parallel storage area, to each camera in the binocular camera.

[0156] In this embodiment, the attribution object marking refers to distinguishing and marking the obtained parallel storage areas, that is, distinguishing and marking the storage areas of the binocular cameras in the extreme environment scenes of each dimension.

[0157] In this embodiment, the source information refers to the cameras corresponding to the scene information of different danger sources.

[0158] The working principle and beneficial effect of the above technical solution are: by constructing a data storage space and splitting the data cache space according to multi-dimensional extreme environment scenes and binocular cameras respectively, the hazardous source scene images collected by the binocular camera in each dimensional extreme environment can be safely and reliably differentiated and stored according to the splitting results, thereby facilitating accurate and reliable distance detection of hazardous sources through hazardous source scene images collected by different cameras.

[0159] Embodiment 8:

[0160] Based on Example 1, this embodiment provides a binocular vision hazard source ranging method in an extreme environment. In step 3, feature matching is performed on the hazard source scene image to obtain feature differences, and the target distance of the hazard source is determined based on the feature differences and the binocular camera operating parameters, including:

[0161] Acquire a hazardous source scene image based on a binocular camera, preprocess the hazardous source scene image, and determine pixel values ​​of pixel points in the hazardous source scene image based on the preprocessing result;

[0162] Analyze the pixel values ​​of the pixels around each pixel based on the preset distance to obtain the gradient information of each pixel, and extract the image feature points of the hazard source scene image based on the gradient information;

[0163] Matching the image feature points of the hazardous source scene image captured by the binocular camera to obtain feature point pairs, and determining the feature differences existing in the feature point pairs based on the matching results of the feature point pairs;

[0164] The position difference between the hazard source and the binocular camera is determined based on the feature difference. At the same time, the imaging characteristics of the binocular camera are determined based on the operating parameters of the binocular camera. The position difference is analyzed based on the imaging characteristics to obtain the target distance between the hazard source and the binocular camera.

[0165] In this embodiment, preprocessing refers to performing denoising and other processing on the hazard source scene image.

[0166] In this embodiment, the preset distance is set in advance, for example, it may be other pixel points adjacent to each pixel point, etc., in order to determine the gradient information of each pixel point.

[0167] In this embodiment, the gradient information refers to the direction in which the pixel content of each pixel point changes and the specific content of the change.

[0168] In this embodiment, the image feature points refer to pixel points that can characterize key image information of the hazard source scene image.

[0169] In this embodiment, the feature point pair refers to the correspondence between image feature points in the hazard source scene images captured by two cameras.

[0170] In this embodiment, the feature difference refers to the difference between the image feature points in the feature pair.

[0171] In this embodiment, the imaging characteristic refers to the imaging standard or requirement of the binocular camera when performing image acquisition, for example, it may be the imaging distance.

[0172] The working principle and beneficial effects of the above technical solution are: by preprocessing the obtained hazard source scene image, and determining the gradient information of each pixel point based on the preprocessed hazard source scene image, it is possible to accurately and effectively determine the image feature points of the hazard source scene image based on the gradient information; secondly, the feature differences of the hazard source scene image are determined based on the image feature points, and the target distance of the hazard source is accurately and effectively determined based on the feature differences and the imaging characteristics of the binocular camera, thereby ensuring the accuracy and reliability of the obtained target distance.

[0173] Embodiment 9:

[0174] This embodiment provides a binocular vision hazard source ranging system in extreme environments, such as Figure 3 As shown, including:

[0175] A strategy library building module is used to create multi-dimensional extreme environment scenes, and control the binocular camera to perform image simulation acquisition in multi-dimensional extreme environment scenes based on the binocular visual ranging protocol, and build a multi-dimensional ranging parameter adjustment strategy library based on the image simulation acquisition results;

[0176] An image acquisition module is used to calibrate the binocular camera parameters based on the on-site environmental characteristics according to the multi-dimensional ranging parameter adjustment strategy library, and to collect hazardous source scene images based on the parameter calibration results;

[0177] The distance determination module is used to perform feature matching on the hazard source scene image, obtain feature differences, and determine the target distance of the hazard source based on the feature differences and the operating parameters of the binocular camera.

[0178] The working principle and beneficial effects of the above technical solution are as follows: by creating a multi-dimensional extreme environment scene and controlling the binocular camera to perform image simulation acquisition in the multi-dimensional extreme environment scene, it provides convenience for building a multi-dimensional ranging parameter adjustment strategy library, and analyzes the obtained image simulation acquisition results to achieve accurate and reliable construction of the multi-dimensional ranging parameter adjustment strategy library, which provides a reference for parameter calibration of binocular cameras in different environments. Secondly, the operating parameters of the binocular camera in different environments are quickly and effectively adjusted through the obtained multi-dimensional ranging parameter adjustment strategy library, so as to achieve fast and effective acquisition of hazardous source scene images, and provide data support for hazardous source ranging. Finally, the obtained hazardous source scene images are analyzed to achieve accurate and effective detection of the target distance of the hazardous source, thereby ensuring the safety factor on site and improving the accuracy and reliability of hazardous source ranging.

[0179] Embodiment 10:

[0180] Based on Example 9, this embodiment provides a binocular vision hazard source ranging system in extreme environments, and a strategy library building module includes:

[0181] A parameter retrieving unit, used to determine a scenario framework based on scenario construction requirements, determine the type of extreme environment to be constructed, and retrieve relevant parameters from a server based on the type of extreme environment to be constructed;

[0182] A parameter adaptation range determination unit, used to determine the environmental parameter range of the extreme environment type to be constructed based on relevant parameters, and determine the parameter adaptation range of the extreme environment scene of the extreme environment type to be constructed based on the environmental parameter range;

[0183] A model configuration unit, used to build a scene physical model based on a computer according to the scene framework, and configure model parameters of the scene physical model based on relevant parameters of the extreme environment type to be constructed and the corresponding parameter adaptation range;

[0184] The scenario construction unit is used to obtain multi-dimensional extreme environment scenarios based on the configuration results.

[0185] The working principle and intended effect of the above technical solution are: by first creating a scene framework according to the scene construction requirements, and at the same time, retrieving corresponding simulation parameters from the server according to the type of extreme environment to be constructed, the environmental parameter range under different extreme environments is determined according to the simulation parameters, so as to facilitate the accurate and effective determination of the parameter adaptation range under different extreme environments according to the environmental parameter range. Finally, the scene physical model is constructed through the scene framework, and the model parameters of the scene physical model are configured respectively through relevant parameters and corresponding parameter adaptation ranges, so as to realize the accurate and effective creation of multi-dimensional extreme environment scenes, provide convenience for determining the corresponding performance parameters of binoculars under different extreme environments, and ensure the accuracy of ranging of dangerous sources.

[0186] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A binocular vision hazard source ranging method in extreme environments, characterized in that: include: Step 1: Create a multi-dimensional extreme environment scene, and control the binocular camera to perform image simulation acquisition in the multi-dimensional extreme environment scene based on the binocular visual ranging protocol, and build a multi-dimensional ranging parameter adjustment strategy library based on the image simulation acquisition results; Step 2: Based on the on-site environmental characteristics, the binocular camera is calibrated according to the multi-dimensional ranging parameter adjustment strategy library, and the hazardous source scene images are collected based on the parameter calibration results; Step 3: Perform feature matching on the hazard source scene image to obtain feature differences, and determine the target distance of the hazard source based on the feature differences and the binocular camera operating parameters; In step 1, a multi-dimensional ranging parameter adjustment strategy library is constructed based on the image simulation acquisition results, including: The obtained image simulation acquisition results are obtained, and the image simulation acquisition results of different frequencies under the same extreme environment are sorted based on the adjustment direction of the performance parameter adjustment value of the binocular camera to obtain an image simulation acquisition result sequence, wherein the adjustment direction of the performance parameter adjustment value of the binocular camera refers to the adjustment direction of the performance parameter adjustment value of the binocular camera; Based on the multi-dimensional extreme environment scene, the environmental parameters corresponding to each frequency of image simulation acquisition are obtained, and the performance parameters of the binocular camera corresponding to each image simulation acquisition result are obtained. The environmental parameters and the binocular camera performance parameters are sorted based on the sorting results of the image simulation acquisition results of different frequencies, and the environmental parameter sequence and the binocular camera performance parameter sequence are obtained. The starting point of the image simulation acquisition result sequence, environmental parameter sequence and binocular camera performance parameter sequence under the same extreme environment is aligned, and based on the starting point alignment result, the image simulation acquisition result sequence is traversed according to the image acquisition requirements to determine the optimal image simulation acquisition result under the same extreme environment; Based on the optimal image simulation acquisition results, the corresponding target environment parameters and the optimal binocular camera performance parameter values ​​are determined, and the bidirectional performance parameter values ​​of the optimal binocular camera performance parameter values ​​are analyzed based on the binocular camera performance parameter sequence to obtain the bidirectional data change trend characteristics of the optimal binocular camera performance parameter values; Based on the change trend characteristics of the two-way data, the parameter adjustment direction and parameter adjustment threshold of each binocular camera performance parameter in the binocular camera performance parameter sequence relative to the optimal binocular camera performance parameter value are determined respectively, and the binocular camera performance parameter adjustment strategy under the corresponding extreme environment is obtained based on the parameter adjustment direction and the parameter adjustment threshold; The target environmental parameters, the optimal binocular camera performance parameter values ​​and the binocular camera performance parameter adjustment strategy under the same extreme environment are associated, and the associated results are recorded and stored to obtain a multi-dimensional ranging parameter adjustment strategy library.

2. According to the binocular vision hazard source ranging method in extreme environment according to claim 1, it is characterized in that: In step 1, create a multi-dimensional extreme environment scenario, including: Determine the scenario framework based on the scenario construction requirements, determine the type of extreme environment to be constructed, and retrieve relevant parameters from the server based on the type of extreme environment to be constructed; Determine the environmental parameter range of the extreme environment type to be constructed based on the relevant parameters, and determine the parameter adaptation range of the extreme environment scene of the extreme environment type to be constructed based on the environmental parameter range; Building a scene physical model based on a computer according to the scene framework, and configuring model parameters of the scene physical model based on relevant parameters of the extreme environment type to be constructed and the corresponding parameter adaptation range; Based on the configuration results, multi-dimensional extreme environment scenarios are obtained.

3. The binocular vision hazard source ranging method in extreme environment according to claim 2 is characterized in that: The model parameters of the scene physical model are configured based on the relevant parameters of the extreme environment type to be constructed and the corresponding parameter adaptation range, including: Obtain relevant parameters corresponding to the extreme environment type to be constructed, and determine the environment category existing under the corresponding extreme environment type to be constructed based on the relevant parameters; Perform computer-based simulation of environmental categories and logically associate the simulation results with the scene physical model; Based on the difference in environmental representation, the step division nodes for the parameter adaptation range are determined, and the parameter adaptation range is divided based on the step division nodes to obtain a single parameter adaptation set, wherein the difference in environmental representation refers to the difference in environmental performance corresponding to different environmental parameter values, and the step division nodes divide the parameter adaptation range of the same stage according to the difference in environmental representation. A single parameter adaptation set refers to the data set corresponding to each stage obtained after node division of the parameter adaptation range; Based on a single parameter adaptation set, multi-node model parameter adaptation is performed on the logically associated scene physical model to obtain the corresponding extreme environment scene under different environmental parameter values ​​for each extreme environment type to be constructed; The extreme environmental scenarios corresponding to different environmental parameter values ​​under the same extreme environment type to be constructed are classified to obtain multi-dimensional extreme environmental scenarios.

4. The binocular vision hazard source ranging method in extreme environment according to claim 1 is characterized in that: In step 1, the binocular camera is controlled to perform image simulation acquisition in multi-dimensional extreme environment scenes based on the binocular visual ranging protocol, including: Obtain the binocular vision ranging protocol of the binocular camera, parse the binocular vision test protocol, and obtain the execution standard parameters of the binocular camera; Obtain the obtained multi-dimensional extreme environment scene, and determine the acquisition position of the binocular camera and the deployment position of the reference object in the multi-dimensional computing environment scene; Based on the acquisition position of the binocular camera and the deployment position of the reference object, the binocular camera is controlled to perform multiple image simulation acquisitions with different performance parameter values ​​on the reference object according to the execution standard parameters, and the performance parameter value of the binocular camera during each image simulation acquisition is associated and bound with the corresponding image simulation acquisition result; Based on the association binding results, the multi-dimensional image simulation acquisition results in each dimension of extreme environment scenes are obtained.

5. The binocular vision hazard source ranging method in extreme environment according to claim 1 is characterized in that: In step 2, the binocular camera is calibrated based on the on-site environmental characteristics according to the multi-dimensional ranging parameter adjustment strategy library, and the hazard source scene images are collected based on the parameter calibration results, including: Based on the preset sensor, the on-site environment is monitored for a preset time period, and the monitoring results of the preset time period are averaged, and the environmental characterization parameters of the on-site environment are obtained based on the averaged processing results; Obtaining on-site environmental characteristics based on environmental characterization parameters, and matching target ranging parameter adjustment strategies from a multi-dimensional ranging parameter adjustment strategy library based on the on-site environmental characteristics; Adjust the internal and external parameters of the binocular camera based on the target ranging parameter adjustment strategy, and complete the parameter calibration of the binocular camera based on the adjustment results; Based on the parameter calibration results, the binocular cameras are controlled to collect images of the hazard sources respectively to obtain the hazard source scene images.

6. The binocular vision hazard source ranging method in extreme environment according to claim 5 is characterized in that: Get the hazardous source scene image, including: Construct a data cache space, and first split the data cache space based on multi-dimensional extreme environment scenarios to obtain independent sub-storage spaces; Each independent sub-storage space is evenly split to obtain parallel storage areas, and the parallel storage areas are marked with belonging objects; Extracting source information of the hazardous source scene image, and determining source terminals corresponding to different hazardous source scene images based on the source information; The source terminal and the belonging object marking results are matched, and the hazard source scene image is stored in a parallel storage area based on the matching result.

7. The binocular vision hazard source ranging method in extreme environment according to claim 1 is characterized in that: In step 3, feature matching is performed on the hazard source scene image to obtain feature differences, and the target distance of the hazard source is determined based on the feature differences and the operating parameters of the binocular camera, including: Acquire a hazardous source scene image based on a binocular camera, preprocess the hazardous source scene image, and determine pixel values ​​of pixel points in the hazardous source scene image based on the preprocessing result; Analyze the pixel values ​​of the pixels around each pixel based on the preset distance to obtain the gradient information of each pixel, and extract the image feature points of the hazard source scene image based on the gradient information; Matching the image feature points of the hazardous source scene image captured by the binocular camera to obtain feature point pairs, and determining the feature differences existing in the feature point pairs based on the matching results of the feature point pairs; The position difference between the hazard source and the binocular camera is determined based on the feature difference. At the same time, the imaging characteristics of the binocular camera are determined based on the operating parameters of the binocular camera. The position difference is analyzed based on the imaging characteristics to obtain the target distance between the hazard source and the binocular camera.

8. According to the binocular vision hazard source ranging method in extreme environment and the binocular vision hazard source ranging system in extreme environment, the characteristics are as follows: include: A strategy library building module is used to create multi-dimensional extreme environment scenes, and control the binocular camera to perform image simulation acquisition in multi-dimensional extreme environment scenes based on the binocular visual ranging protocol, and build a multi-dimensional ranging parameter adjustment strategy library based on the image simulation acquisition results; An image acquisition module is used to calibrate the binocular camera parameters based on the on-site environmental characteristics according to the multi-dimensional ranging parameter adjustment strategy library, and to collect hazardous source scene images based on the parameter calibration results; The distance determination module is used to perform feature matching on the hazard source scene image, obtain feature differences, and determine the target distance of the hazard source based on the feature differences and the operating parameters of the binocular camera.

9. The binocular vision hazard source ranging system in extreme environments according to claim 8, characterized in that: Strategy library building blocks, including: A parameter retrieving unit, used to determine a scenario framework based on scenario construction requirements, determine the type of extreme environment to be constructed, and retrieve relevant parameters from a server based on the type of extreme environment to be constructed; A parameter adaptation range determination unit, used to determine the environmental parameter range of the extreme environment type to be constructed based on relevant parameters, and determine the parameter adaptation range of the extreme environment scene of the extreme environment type to be constructed based on the environmental parameter range; A model configuration unit, used to build a scene physical model based on a computer according to the scene framework, and configure model parameters of the scene physical model based on relevant parameters of the extreme environment type to be constructed and the corresponding parameter adaptation range; The scenario construction unit is used to obtain multi-dimensional extreme environment scenarios based on the configuration results.

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