Laser ray enhancement method for online measurement of bright ice shape and storage medium

Abstract

The invention relates to a laser ray enhancement method for online measurement of a bright ice shape and a storage medium. The polarized optical imaging device is used for collecting the original image of the clear ice scanned by the laser sheet, and most stray light with the polarization direction different from that of the scanning laser line can be filtered out, so that the scanning laser line is more prominent. And then, the original image is separated into a plurality of polarization sub-images containing different polarization channels, so that more comprehensive scene information can be obtained. And then, through calculation and conversion of the light intensity value, the contrast of the background in the original image and the scanning laser rays can be enhanced, so that a clearer image of the clear ice scanned by the laser sheet light containing the scanning laser rays is obtained, the calculation process is simpler, and the identification accuracy of the scanning laser rays is improved.

Description

Technical Field

[0001] This application relates to the technical field of ice shape measurement, and particularly to a laser line enhancement method and a storage medium for online measurement of clear ice shape. Background Art

[0002] In the aviation field, when an aircraft passes through supercooled clouds, its wings, engines and other components are extremely prone to icing. An icing wind tunnel is an important ground facility for simulating natural icing of an aircraft. The ice shape is the core key information obtained from icing wind tunnel tests. The online ice shape measurement technology based on laser line scanning can obtain the three-dimensional ice shape of the aircraft model surface during the icing wind tunnel test online, providing accurate data support for aircraft icing problem research and de-icing system design. Typical icing types include: frost ice, clear ice and mixed ice. Among them, due to the light-transmitting property of clear ice, when a laser sheet light is projected onto the surface of clear ice, stray light and transmitted light will be formed, resulting in poor recognition of the laser line formed on the surface of clear ice, thus seriously affecting the online measurement accuracy of the three-dimensional ice shape. Summary of the Invention

[0003] The purpose of this application is to provide a laser line enhancement method and a storage medium for online measurement of clear ice shape, so as to solve the problem of poor recognition of the laser line on the surface of clear ice.

[0004] To achieve the above purpose, the first aspect of this application provides a laser line enhancement method for online measurement of clear ice shape, including: Collecting an original image of a laser sheet light scanning clear ice using a polarization optical imaging device, where the original image includes a scanned laser line; Separating the original image into multiple polarized sub-images including different polarization channels; Determining a second light intensity value for each pixel position according to the first light intensity value of each pixel position in multiple polarized sub-images, and generating a modulation intensity image of multiple polarized sub-images based on the second light intensity value of each pixel position; Determining a third light intensity value for each pixel position based on the first light intensity value of each pixel position in multiple polarized sub-images and the second light intensity value of each pixel position in the modulation intensity image, and generating a composite image of multiple polarized sub-images based on the third light intensity value of each pixel position; Determining a fourth light intensity value for each pixel position according to the third light intensity value of each pixel position in the composite image, and generating an enhanced image corresponding to the composite image based on the fourth light intensity value of each pixel position.

[0005] The second aspect of this application provides a laser line enhancement system for online measurement of clear ice shape, including: A memory configured to store instructions; And a processor configured to call the instructions from the memory and, when executing the instructions, be capable of implementing the above-described method for enhancing a laser line for online measurement of clear ice shape.

[0006] A third aspect of the present application provides a computer-readable storage medium having a program stored therein, the program being loadable and executable by a processor to implement the above-described method for enhancing a laser line for online measurement of clear ice shape.

[0007] The beneficial effects of the present application are as follows: The present application uses a polarization optical imaging device to collect the original image of a laser sheet light scanning clear ice. Compared with a common optical imaging device, due to the action of the polarization filter element, the polarization optical imaging device can filter out most of the stray light with a polarization direction different from that of the scanning laser line, making the scanning laser line more prominent. Secondly, by separating the original image into multiple polarization sub-images including different polarization channels, more comprehensive scene information can be obtained. Thirdly, based on the first light intensity value at each pixel position in the multiple polarization sub-images, a corresponding second light intensity value is determined, and a modulation intensity image of the multiple polarization sub-images is generated. Then, based on the first light intensity value and the second light intensity value at each pixel position, a third light intensity value at each pixel position is determined, and a composite image of the multiple polarization sub-images is generated. Finally, based on the third light intensity value at each pixel position, a corresponding fourth light intensity value is determined, and an enhanced image corresponding to the composite image is generated. In this way, through the calculation and conversion of the light intensity values, the contrast between the background in the original image and the scanning laser line can be enhanced, so as to obtain a clearer image of the laser sheet light scanning clear ice including the scanning laser line. The calculation process is simpler, and the recognition accuracy of the scanning laser line is improved.

[0008] Other features and advantages of the present application will be described in detail in the subsequent specific implementation part. Description of the Drawings

[0009] Figure 1 It is a schematic flowchart of a method for enhancing a laser line for online measurement of clear ice shape provided in an embodiment of the present application; Figure 2 It is a schematic diagram of a laser line image of a laser sheet light scanning clear ice collected by a common optical imaging device; Figure 3 It is a schematic diagram of a laser line image of a laser sheet light scanning clear ice collected by a polarization optical imaging device provided in an embodiment of the present application; Figure 4 It is a schematic diagram of a polarization sub-image corresponding to a 0° polarization state provided in an embodiment of the present application; Figure 5Schematic diagram of a polariton image corresponding to a 45° polarization state provided in an embodiment of the present application; Figure 6 Schematic diagram of a polariton image corresponding to a 90° polarization state provided in an embodiment of the present application; Figure 7 Schematic diagram of a polariton image corresponding to a 135° polarization state provided in an embodiment of the present application; Figure 8 Schematic diagram of a composite image of multiple polariton images provided in an embodiment of the present application; Figure 9 Schematic diagram of an enhanced image corresponding to the composite image provided in an embodiment of the present application; Figure 10 Schematic flow chart of a laser line enhancement method for online measurement of clear ice shape provided in a specific embodiment of the present application; Figure 11 Schematic structural diagram of a laser line enhancement system for online measurement of clear ice shape provided in an embodiment of the present application. Detailed implementation manners

[0010] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of the present application.

[0011] In the description of the present application, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality of" means two or more unless otherwise specifically defined. In the present application, the term "exemplary" is used to mean "serving as an example, illustration, or description". Any embodiment described as "exemplary" in the present application is not necessarily to be construed as more preferred or more advantageous than other embodiments. In order for any person skilled in the art to implement and use the present application, the following description is given. In the following description, details are set forth for the purpose of explanation. It should be understood that those skilled in the art can recognize that the present application can be implemented without these specific details. In other instances, well-known structures and processes are not elaborated in detail to avoid unnecessary details from obscuring the description of the present application. Therefore, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed in the present application.

[0012] Figure 1 This is a schematic flowchart of a laser line enhancement method for online measurement of glaze ice shape provided in an embodiment of the present application. As Figure 1 shown, the laser line enhancement method may include steps such as 101-105, which will be introduced in detail below.

[0013] Step 101: Use a polarization optical imaging device to collect the original image of the glaze ice scanned by a laser sheet light. The original image contains the scanned laser line.

[0014] The polarization optical imaging device is an imaging device that uses the polarization characteristics of light to obtain image information. Through a polarization filtering element (such as a polarization filter), the polarization state of the incident light is selectively filtered, modulated, and analyzed to capture polarization-related image information. In the embodiment of the present application, the polarization optical imaging device is used to perform laser sheet light scanning on the glaze ice, and an original image containing the scanned laser line can be obtained. Glaze ice is transparent and structurally firm ice formed under specific meteorological conditions. The polarization optical imaging device can record the light information in different polarization directions, and the laser sheet light scanning technology irradiates the glaze ice surface with a laser in the form of a sheet beam to form a laser line for subsequent image processing.

[0015] When the laser sheet light is projected onto the glaze ice surface, stray light and transmitted light will be formed. Compared with ordinary optical imaging devices, the polarization optical imaging device can capture polarization information, providing a basis for subsequent separation of polarization sub-images and helping to improve the quality and information richness of the image.

[0016] Figure 2 This is a schematic diagram of collecting the laser line image of the glaze ice scanned by a laser sheet light through an ordinary optical imaging device. Refer to Figure 2 . The original image captured by the ordinary optical imaging device through laser sheet light scanning contains stray light and transmitted light, resulting in the laser line formed on the glaze ice surface in the original image being not ideal and clear enough.

[0017] Figure 3 This is a schematic diagram of collecting the laser line image of the glaze ice scanned by a laser sheet light through a polarization optical imaging device provided in an embodiment of the present application. Refer to Figure 3 . A relatively obvious scanned laser line is formed on the glaze ice ridge surface, and the stray light and transmitted light are effectively suppressed.

[0018] Step 102: Separate the original image into multiple polarization sub-images containing different polarization channels.

[0019] In the embodiments of the present application, a polarization channel refers to a channel that selectively captures optical signals in a specific polarization direction through a specific polarization element (such as a polarizer or a polarization beam splitter prism, etc.). The original image acquired by a polarization optical imaging device can be separated into multiple polarized sub-images by means such as a polarization filter array, a polarization beam splitter prism, or time-series polarization imaging. Each polarized sub-image can correspond to a polarization direction and contain optical information in a specific polarization direction, thereby enabling more detailed analysis of image features in different polarization directions. By separating the polarized sub-images, the mutual interference of light in different polarization directions can be effectively reduced, and the clarity and contrast of the image can be improved. Moreover, multiple polarized sub-images can provide richer optical information, which helps to more comprehensively analyze and process the image subsequently.

[0020] As an example, the multiple polarized sub-images can include the polarized sub-images corresponding to the polarization states of 0°, 45°, 90°, and 135°. Refer to Figures 4 to 7 , Figure 4 which is a schematic diagram of a polarized sub-image corresponding to the 0° polarization state provided in the embodiments of the present application; Figure 5 which is a schematic diagram of a polarized sub-image corresponding to the 45° polarization state provided in the embodiments of the present application; Figure 6 which is a schematic diagram of a polarized sub-image corresponding to the 90° polarization state provided in the embodiments of the present application; Figure 7 which is a schematic diagram of a polarized sub-image corresponding to the 135° polarization state provided in the embodiments of the present application.

[0021] Step 103: Determine the second light intensity value of each pixel position based on the first light intensity value of each pixel position in the multiple polarized sub-images, and generate a modulation intensity image of the multiple polarized sub-images based on the second light intensity value of each pixel position.

[0022] In the embodiments of the present application, the first light intensity value refers to the original light intensity value of each pixel position in the multiple polarized sub-images separated from the original image. The first light intensity value of each polarized sub-image reflects the light intensity value of each pixel position in the polarization state corresponding to the polarized sub-image. The modulation intensity image is an image obtained by processing the polarized sub-images, which reflects the light intensity modulation information of each pixel position, can highlight the regions with significant polarization characteristics, and simultaneously suppress background noise and other irrelevant information, thereby enhancing the contrast and feature visibility of the image. The second light intensity value refers to the light intensity value of each pixel position in the modulation intensity image.

[0023] In the embodiments of the present application, the second light intensity value is calculated based on the first light intensity values of multiple polarized images through a certain algorithm or formula. The second light intensity value reflects the modulation information of the light intensity. Therefore, a modulation intensity image can be generated based on the second light intensity value. Since the modulation intensity value can usually better reflect the change and contrast of the light intensity, the characteristics of the scanned laser line can be more prominently displayed by generating the modulation intensity image. By calculating the second light intensity value, the contrast of the image can be further enhanced, making important features such as the scanned laser line clearer and more visible.

[0024] Step 104: Determine the third light intensity value at each pixel position based on the first light intensity value at each pixel position in multiple polarized images and the second light intensity value at each pixel position in the modulation intensity image, and generate a composite image of the multiple polarized images based on the third light intensity value at each pixel position.

[0025] The composite image is an image generated by fusing multiple polarized images, which combines the information of sub-images in different polarization directions, can provide a more comprehensive and richer scene description, highlight important features and reduce the influence of noise.

[0026] In the embodiments of the present application, the third light intensity value at each pixel position can be calculated by combining the first light intensity value at each pixel position in each polarized image and the second light intensity value at each pixel position in the modulation intensity image through a certain fusion algorithm. The third light intensity value synthesizes the original light intensity information and the modulated light intensity information, can more comprehensively reflect the characteristics of the image, and generates a composite image based on the third light intensity value.

[0027] Figure 8 This is a schematic diagram of a composite image of multiple polarized images provided in the embodiments of the present application. As Figure 8 shown, the composite image fuses the information of multiple polarized images and the modulated light intensity information of the modulation intensity image, and can provide more comprehensive image features. By synthesizing multiple types of information to generate a composite image, the robustness of the image to environmental changes and noise can be improved, making the image more stable and reliable.

[0028] Step 105: Determine the fourth light intensity value at each pixel position according to the third light intensity value at each pixel position in the composite image, and generate an enhanced image corresponding to the composite image based on the fourth light intensity value at each pixel position.

[0029] The enhanced image is an image obtained by further processing the composite image to optimize the visual effect and analysis ability of the image. In the embodiments of the present application, the third light intensity value at each pixel position in the composite image can be further processed to calculate the fourth light intensity value at each pixel position. The fourth light intensity value is optimized to better highlight the important features in the image, and an enhanced image is generated based on the fourth light intensity value.

[0030] Figure 9 This is a schematic diagram of an enhanced image corresponding to a synthetic image provided in an embodiment of the present application. As Figure 9 shown, the enhanced image can better adapt to different display requirements, making the details and features in the image clearer and more intuitive. The enhanced image has higher value in practical applications and can more effectively support subsequent processing and analysis work.

[0031] In the embodiment of the present application, a polarization optical imaging device is used to collect the original image of a laser sheet light scanning clear ice. Compared with a general optical imaging device, due to the function of the polarization filter element, the polarization optical imaging device can filter out most of the stray light with a polarization direction different from that of the scanning laser line, making the scanning laser line more prominent. By separating the original image into multiple polarized sub-images including different polarization channels, more comprehensive scene information can be obtained. Through the calculation and conversion of the light intensity value, the contrast between the background and the scanning laser line in the original image can be enhanced, so as to obtain a clearer image of the laser sheet light scanning clear ice including the scanning laser line. The calculation process is simpler and the recognition accuracy of the scanning laser line is improved.

[0032] In step 103, the second light intensity value of each pixel position can be calculated first according to the first light intensity value of each pixel position in multiple polarized sub-images. As an example, the squares of multiple first light intensity values at the same pixel position in multiple polarized sub-images can be calculated first to convert the first light intensity value into a non-negative number and amplify the light intensity difference to highlight the polarization characteristics. Then, the squared multiple first light intensity values are added together to merge the information of different polarization directions to obtain a comprehensive first light intensity value. Then, the square root of the comprehensive first light intensity value is taken to convert back to the magnitude of the light intensity while maintaining the light intensity difference. Then, based on the second light intensity value of each pixel position, a modulation intensity image is generated.

[0033] For example, the second light intensity value can be calculated by the following formula: ; where is the second light intensity value at the pixel position of , is the first light intensity value at the pixel position of in the th polarized sub-image.

[0034] In the process of synthesizing multiple polarized sub-images in the embodiment of the present application, the quality of the synthetic image can be optimized by considering the domain information, and the local information in the modulation intensity image, such as the light intensity values within a certain pixel position and the domain pixel positions, is used to enhance the features of the image.

[0035] Therefore, in step 104, the target pixel positions where the second light intensity value is the maximum within the first set neighborhood range of each pixel position in the modulation intensity image can be obtained first. The first set neighborhood range refers to the range of neighboring pixels belonging to a certain pixel position preset in the modulation intensity image. For example, if the preset range is neighborhood sampling in the vertical direction, it can be set as a certain number of pixel positions above and / or below the current pixel range as the first set neighborhood range. The target pixel position refers to the pixel position with the maximum second light intensity value within the neighboring pixel range.

[0036] Then, the first distances between each pixel position and the target pixel position corresponding to each pixel position are determined respectively. The first distance refers to the Euclidean distance between the pixel position and the target pixel position corresponding to this pixel position in the modulation intensity image, and can be calculated by the calculation method of the Euclidean distance.

[0037] Next, for each pixel position, the third light intensity value of each pixel position is determined according to the first distance. Then, the second light intensity value of each pixel position in the modulation intensity image is replaced with the third light intensity value, thereby generating a composite image of multiple polarized sub-images.

[0038] Among them, the method for determining the third light intensity value for each pixel position specifically includes the following steps. For each pixel position, it is judged whether the first distance is greater than the first set distance. The first set distance is a threshold preset for judging the value-taking method of the third light intensity value.

[0039] If the first distance is greater than the first set distance, it means that the distance of this pixel position from the center of the scanning laser line is relatively far, then the minimum value of the first light intensity value of this pixel position in multiple polarized sub-images is used as the third light intensity value of the pixel position. If the first distance is less than or equal to the first set distance, it means that the distance of this pixel position from the center of the scanning laser line is relatively close, then the maximum value of the first light intensity value of this pixel position in multiple polarized sub-images is used as the third light intensity value of this pixel position. In this way, the light intensity value at non-scanning laser line positions can be suppressed, and the light intensity value at scanning laser line positions can be highlighted.

[0040] For example, the third light intensity value can be calculated by the following formula: ; Among them, is the third light intensity value of the pixel position , is the first distance between the pixel position and the target pixel position corresponding to this pixel position, is the first set distance.

[0041] In step 105, the maximum value of the third light intensity value within the second preset neighborhood range of each pixel position in the synthesized image, as well as a preset first set value and a second set value, can be obtained first. Herein, the second preset neighborhood range refers to the range of neighboring pixels belonging to a certain pixel position preset in the synthesized image. For example, if the preset range is neighborhood sampling in the vertical direction, it can be set as a certain number of pixel positions above and / or below the current pixel range as the second preset neighborhood range. It should be noted that the values of the first preset neighborhood range and the second preset neighborhood range can be the same or different. Both the first set value and the second set value refer to the thresholds preset for determining the value-taking method of the fourth light intensity value. The first set value is less than the second set value. For example, the first set value can be the minimum threshold preset, and the second set value can be the maximum threshold preset. For each pixel position, the maximum value of the third light intensity value within the second preset neighborhood range of this pixel position can be compared with the first set value and the second set value respectively.

[0042] If the maximum value of the third light intensity value is less than or equal to the first set value, it indicates that the distance of this pixel position from the center of the scanning laser line is relatively far, and this pixel position can be regarded as the background. Then, the fourth light intensity value of this pixel position is determined as the set light intensity value. Herein, the set light intensity value is a value matching the light intensity value of the background, usually set as a relatively small light intensity value. For example, the set light intensity value can be set to 0. The fourth light intensity value is expressed by the formula , , where is the fourth light intensity value at the pixel position of , is the maximum value of the third light intensity value within the second preset neighborhood range at the pixel position of , is the first set value.

[0043] If the maximum value of the third light intensity value is greater than or equal to the second set value, it indicates that the distance of this pixel position from the center of the laser scanning line is relatively close, and this pixel position can be regarded as a strong laser line point. Then, the light intensity value in the synthesized image can be retained, that is, the third light intensity value of this pixel position is used as the fourth light intensity value of this pixel position. The fourth light intensity value is expressed by the formula , where is the second set value, is the third light intensity value at the pixel position of .

[0044] If the maximum value of the third light intensity value is greater than the first set value and less than the second set value, the pixel position can be regarded as a weak laser line point, and then according to the second distance between the pixel position and the target pixel position corresponding to the pixel position, the fourth light intensity value of the pixel position is determined. Wherein, the second distance refers to the Euclidean distance between the pixel position and the target pixel corresponding to the pixel position in the composite image, and can also be calculated by the calculation method of the Euclidean distance.

[0045] Specifically, it can be determined whether the second distance is greater than the second set distance. The second set distance is a threshold value preset for determining the value-taking method of the fourth light intensity value corresponding to the weak laser line point.

[0046] If the second distance is greater than the second set distance, it indicates that the distance of the pixel position from the center of the scanning laser line is relatively far, then the third light intensity value of the pixel position is used as the fourth light intensity value of the pixel position. The fourth light intensity value is expressed by the formula: ; wherein, is the second distance when the pixel position is , is the second set distance.

[0047] If the second distance is less than or equal to the second set distance, it indicates that the distance of the pixel position from the center of the scanning laser line is relatively close, then the fourth light intensity value of the pixel position can be calculated according to the second distance, the second set distance, the second set value, the third light intensity value of the pixel position, and the maximum value of the third light intensity values within the second set neighborhood range of the pixel position. In this way, the scanning laser line can be made more prominent, facilitating the subsequent extraction of the scanning laser line.

[0048] For example, the fourth light intensity value can be calculated by the following formula: .

[0049] In this formula, in the numerator is a reference quantity. When the second distance is smaller, is closer to . In this way, the fourth light intensity value can be weighted and adjusted according to the distance between the pixel position of and the target pixel position. in the denominator can play a role in normalization, normalizing the adjustment amount of the numerator, so as to reasonably adjust the fourth light intensity value. By dividing the second set distance by the maximum value of the third light intensity values within the second set neighborhood range, further adjustment can also be made. In this way, the calculated value can be used as the light intensity adjustment coefficient of the current pixel position. Based on the third light intensity value of the pixel position and this light intensity adjustment coefficient, the pixel position is The fourth light intensity value.

[0050] In the embodiment of the present application, the laser line enhancement method further includes a step of laser line extraction. Specifically, first, a laser line extraction algorithm, such as the Steger method, the gradient centroid method, etc., is used to analyze the gray distribution characteristics of the scanned laser line in the enhanced image pixel by pixel, and the two-dimensional coordinate data of the scanned laser line is extracted from the enhanced image.

[0051] Then, the polarization optical imaging device can be accurately calibrated in advance to obtain its internal parameters (such as focal length, principal point coordinates) and external parameters (such as rotation matrix, translation vector), and at the same time, determine the plane equation parameters of the laser sheet light in space. Then, based on the pinhole imaging and the geometric relationship of the laser plane, the extracted two-dimensional coordinate data, based on the imaging parameters of the calibrated polarization optical imaging device and the plane parameters of the laser sheet light, through a coordinate transformation algorithm, the image coordinate system is converted to the world coordinate system, and the three-dimensional coordinate data of the scanned laser line in the world coordinate system is determined. In this way, the scanned laser line data that only reflects the position of the image plane can be transformed into three-dimensional coordinate data with actual spatial position information, providing a basis for subsequent applications such as three-dimensional modeling and dimensional measurement.

[0052] In addition, in order to accurately represent the geometric shape of clear ice, the measured three-dimensional coordinate data needs to be converted into a closed surface. In the embodiment of the present application, post-processing operations such as noise filtering, surface encapsulation, and hole repair can also be performed, and finally a closed surface representing clear ice is generated.

[0053] Figure 10 It is a schematic flow chart of a laser line enhancement method for online measurement of clear ice shape provided in a specific embodiment of the present application. As Figure 10 shown, first, a clear ice is scanned with a laser sheet light through a polarization optical imaging device to obtain an original image containing a laser line. The original image may include a polarizer array and a pixel array. Then, the original image is separated into polarization sub-images of four polarization channels, namely 0°, 45°, 90°, and 135°. Next, modulation intensity images of multiple polarization sub-images are generated. Further, a composite image is generated based on the original image and the modulation intensity images. Then, the composite image is enhanced to obtain an enhanced image corresponding to the composite image. Finally, the scanned laser line is extracted based on the enhanced image, and three-dimensional reconstruction of the clear ice shape is performed. In this way, the original image of the clear ice is collected through the polarization optical imaging device and separated into multiple polarization sub-images. Then, by calculating the light intensity values and combining all the polarization sub-images, better recognition of the scanned laser line can be achieved, and thus more accurate measurement results can be obtained.

[0054] Figure 11This is a schematic structural diagram of a laser line enhancement system 1100 provided in an embodiment of the present application. As Figure 11 shown, the laser line enhancement system 1100 may include a memory 1101 and a processor 1102. The memory 1101 is configured to store instructions. The processor 1102 is configured to call instructions from the memory 1101 and be able to implement the above-mentioned method for online measurement of clear ice shape by enhancing the laser line when executing the instructions.

[0055] The embodiment of the present application also provides a computer-readable storage medium, in which a program is stored, and the program can be loaded and executed by a processor to implement the above-mentioned method for online measurement of clear ice shape by enhancing the laser line.

[0056] Those skilled in the art can understand that all or part of the functions of the above-mentioned various methods can be implemented in a hardware manner or in a computer program manner. When all or part of the functions in the above-mentioned embodiments are implemented in a computer program manner, the program can be stored in a computer-readable storage medium, and the storage medium may include: read-only memory, random access memory, magnetic disk, optical disk, hard disk, etc. The above functions are implemented by a computer executing the program. For example, the program is stored in the memory of the device, and when the processor executes the program in the memory, the above-mentioned all or part of the functions can be implemented. In addition, when all or part of the functions in the above-mentioned embodiments are implemented in a computer program manner, the program can also be stored in a storage medium such as a server, another computer, magnetic disk, optical disk, flash drive or mobile hard disk, downloaded or copied and saved to the memory of the local device, or the system of the local device is updated in version. When the processor executes the program in the memory, the above-mentioned all or part of the functions in the above-mentioned embodiments can be implemented.

[0057] The above uses specific examples to elaborate on the present application, which is only for helping to understand the present application and is not used to limit the present application. For those skilled in the technical field to which the present application belongs, according to the idea of the present application, several simple deductions, deformations or substitutions can also be made.

Claims

1. A laser line enhancement method for on-line measurement of glaze ice shape, characterized in that, Including: Collecting an original image of laser sheet light scanning clear ice using a polarization optical imaging device, the original image including a scanned laser line; Separating the original image into a plurality of polarized sub-images including different polarization channels; Determining a second light intensity value for each pixel position based on a first light intensity value of each pixel position in the plurality of polarized sub-images, and generating a modulation intensity image of the plurality of polarized sub-images based on the second light intensity value of each pixel position; Determining a third light intensity value for each pixel position based on the first light intensity value of each pixel position in the plurality of polarized sub-images and the second light intensity value of each pixel position in the modulation intensity image, and generating a composite image of the plurality of polarized sub-images based on the third light intensity value of each pixel position; Determining a fourth light intensity value for each pixel position based on the third light intensity value of each pixel position in the composite image, and generating an enhanced image corresponding to the composite image based on the fourth light intensity value of each pixel position.

2. The laser line enhancement method for online measurement of glaze ice shape according to claim 1, characterized in that The step of determining a second light intensity value for each pixel position based on the first light intensity value of each pixel position in the plurality of polarized sub-images, and generating a modulation intensity image of the plurality of polarized sub-images based on the second light intensity value of each pixel position includes: Calculating a second light intensity value for each pixel position based on the first light intensity value of each pixel position in the plurality of polarized sub-images, the second light intensity value being calculated by the following formula: ； Among them, is the second light intensity value at the pixel position , is the first light intensity value at the pixel position in the th polarized sub-image; Generating the modulation intensity image based on the second light intensity value of each pixel position.

3. A laser line enhancement method for on-line measurement of glaze ice shape according to claim 1, characterized in that, The step of determining a third light intensity value for each pixel position based on the first light intensity value of each pixel position in the plurality of polarized sub-images and the second light intensity value of each pixel position in the modulation intensity image, and generating a composite image of the plurality of polarized sub-images based on the third light intensity value of each pixel position includes: Obtaining a target pixel position where the second light intensity value is the maximum within a first set neighborhood range of each pixel position in the modulation intensity image; Respectively determining a first distance between each pixel position and the target pixel position corresponding to each pixel position; For each pixel position, determining the third light intensity value of each pixel position according to the first distance; Replacing the second light intensity value of each pixel position in the modulation intensity image with the third light intensity value to generate a composite image of the plurality of polarized sub-images.

4. A laser line enhancement method for online measurement of glaze ice shape according to claim 3, characterized in that The step of, for each pixel position, determining the third light intensity value of each pixel position according to the first distance includes: For each pixel position, determining whether the first distance is greater than a first set distance; If the first distance is greater than the first set distance, taking the minimum value of the first light intensity values of the pixel position in the plurality of polarized sub-images as the third light intensity value of the pixel position; If the first distance is less than or equal to the first set distance, taking the maximum value of the first light intensity values of the pixel position in the plurality of polarized sub-images as the third light intensity value of the pixel position.

5. A laser line enhancement method for online measurement of glaze ice shape according to claim 1, characterized in that, Determining a fourth light intensity value for each of the pixel positions according to the third light intensity value of each of the pixel positions in the composite image, and generating an enhanced image corresponding to the composite image based on the fourth light intensity value of each of the pixel positions, includes: Obtaining a maximum value of third light intensity values within a second set neighborhood range of each of the pixel positions in the composite image, and a preset first set value and a second set value, where the first set value is less than the second set value; For each of the pixel positions, comparing the maximum value of the third light intensity values within the second set neighborhood range of the pixel position with the first set value and the second set value respectively; If the maximum value of the third light intensity value is less than or equal to the first set value, determining the fourth light intensity value of the pixel position as a set light intensity value; If the maximum value of the third light intensity value is greater than or equal to the second set value, using the third light intensity value of the pixel position as the fourth light intensity value of the pixel position; If the maximum value of the third light intensity value is greater than the first set value and less than the second set value, determining the fourth light intensity value of the pixel position according to a second distance between the pixel position and a target pixel position corresponding to the pixel position.

6. A laser line enhancement method for online measurement of glaze ice shape according to claim 5, characterized in that, The determining the fourth light intensity value of the pixel position according to the second distance between the pixel position and the target pixel position corresponding to the pixel position includes: Judging whether the second distance is greater than a second set distance; If the second distance is greater than the second set distance, using the third light intensity value of the pixel position as the fourth light intensity value of the pixel position; If the second distance is less than or equal to the second set distance, calculating the fourth light intensity value of the pixel position according to the second distance, the second set distance, the second set value, the third light intensity value of the pixel position, and the maximum value of the third light intensity values within the second set neighborhood range of the pixel position, where the fourth light intensity value is calculated by the following formula: ； Wherein, is the fourth light intensity value at pixel position . is the second distance at pixel position . is the second set distance, is the second set value, is the maximum value of the third light intensity values within the second set neighborhood range at pixel position , is the third light intensity value at pixel position .

7. A laser line enhancement method for online measurement of glaze ice shape according to any one of claims 1 to 6, characterized in that The plurality of polarized sub-images include polarized sub-images corresponding to polarization states of 0°, 45°, 90°, and 135°.

8. A laser line enhancement method for online measurement of glaze ice shape according to any one of claims 1 to 6, characterized in that Further includes: Adopting a laser line extraction algorithm to extract two-dimensional coordinate data of the scanned laser line from the enhanced image; Based on the calibrated imaging parameters of the polarization optical imaging device and the plane parameters of the laser sheet light, determining three-dimensional coordinate data of the scanned laser line in the world coordinate system.

9. A laser line enhancement system for on-line measurement of glaze ice shape, characterized in that, Includes: A memory configured to store instructions; And a processor configured to call the instructions from the memory and, when executing the instructions, be capable of implementing a laser line enhancement method for online measurement of clear ice shape as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, A program is stored in the computer-readable storage medium, and the program can be loaded and executed by a processor to implement a laser line enhancement method for online measurement of clear ice shape as described in any one of claims 1 to 8.

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