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

Abstract

The present application relates to a laser line enhancement method and storage medium for online measurement of ice shape of bright ice. The present application uses a polarization optical imaging device to collect the original image of bright ice scanned by laser sheet light, which can filter out most of the stray light with a different polarization direction from the scanning laser line, making the scanning laser line more prominent. Then, by separating the original image into multiple polarization sub-images containing different polarization channels, more comprehensive scene information can be obtained. Then, by calculating and converting the light intensity value, the contrast between the background and the scanning laser line in the original image can be enhanced, thereby obtaining a clearer image of the bright ice scanned by laser sheet light containing the scanning laser line. The calculation process is simpler, and the recognition accuracy of the scanning laser line is improved.

Description

Technical Field

[0001] The present application relates to the technical field of ice shape measurement, and in particular to a laser line enhancement method and storage medium for online measurement of ice shape of bright ice. Background Art

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

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

[0004] In order to achieve the above objectives, the present application provides, in a first aspect, a laser line enhancement method for online measurement of ice shape, comprising:

[0005] Using a polarized optical imaging device to collect an original image of the laser sheet light scanning the bright ice, the original image including the scanning laser line;

[0006] Separating the original image into a plurality of polarization sub-images including different polarization channels;

[0007] Determining a second light intensity value for each pixel position in the plurality of polarization sub-images according to the first light intensity value for each pixel position, and generating a modulated intensity image for the plurality of polarization sub-images based on the second light intensity value for each pixel position;

[0008] Determining a third light intensity value at each pixel position based on the first light intensity value at each pixel position in the plurality of polarization sub-images and the second light intensity value at each pixel position in the modulated intensity image, and generating a composite image of the plurality of polarization sub-images based on the third light intensity value at each pixel position;

[0009] According to the third light intensity value of each pixel position in the synthesized image, a fourth light intensity value of each pixel position is determined, and an enhanced image corresponding to the synthesized image is generated based on the fourth light intensity value of each pixel position.

[0010] A second aspect of the present application provides a laser line enhancement system for online measurement of ice shape, comprising:

[0011] a memory configured to store instructions;

[0012] and a processor, wherein the processor is configured to call the instructions from the memory and implement the above-mentioned laser line enhancement method for online measurement of ice shape when executing the instructions.

[0013] A third aspect of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a program, and the program can be loaded by a processor and execute the above-mentioned laser line enhancement method for online measurement of ice shape.

[0014] The beneficial effects of this application are:

[0015] This application uses a polarization optical imaging device to capture an original image of bright ice scanned by laser sheet light. Compared to conventional optical imaging devices, polarization optical imaging devices, due to the action of polarization filters, can filter out most stray light with polarization directions different from the scanning laser line, making the scanning laser line more prominent. Secondly, by separating the original image into multiple polarization sub-images containing 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, the corresponding second light intensity value is determined, and a modulated intensity image of the multiple polarization sub-images is generated. Then, based on the first and second light intensity values ​​at each pixel position, a third light intensity value is determined at each pixel position, 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 light intensity values, the contrast between the background and the scanning laser line in the original image can be enhanced, thereby obtaining a clearer image of the bright ice scanned by laser sheet light, including the scanning laser line. This simplifies the calculation process and improves the recognition accuracy of the scanning laser line.

[0016] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Schematic diagram of a process of a laser line enhancement method for online measurement of ice shape provided in an embodiment of the present application;

[0018] Figure 2 A schematic diagram of collecting a laser line image of laser sheet light scanning bright ice using a common optical imaging device;

[0019] Figure 3A schematic diagram of collecting a laser line image of laser sheet light scanning bright ice using a polarized optical imaging device provided in an embodiment of the present application;

[0020] Figure 4 A schematic diagram of a polarization sub-image corresponding to a 0° polarization state provided in an embodiment of the present application;

[0021] Figure 5 A schematic diagram of a polarization sub-image corresponding to a 45° polarization state provided in an embodiment of the present application;

[0022] Figure 6 A schematic diagram of a polarization sub-image corresponding to a 90° polarization state provided in an embodiment of the present application;

[0023] Figure 7 A schematic diagram of a polarization sub-image corresponding to a 135° polarization state provided in an embodiment of the present application;

[0024] Figure 8 A schematic diagram of a composite image of multiple polarization sub-images provided in an embodiment of the present application;

[0025] Figure 9 A schematic diagram of an enhanced image corresponding to a composite image provided in an embodiment of the present application;

[0026] Figure 10 This is a flow chart of a laser line enhancement method for online measurement of ice shape provided in a specific embodiment of the present application;

[0027] Figure 11 This is a structural schematic diagram of a laser line enhancement system for online measurement of ice shape provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0029] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly specifying the number of the technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include one or more of the described features. In the description of this application, "plurality" means two or more, unless otherwise specifically qualified. In this application, the word "exemplary" is used to mean "serving as an example, illustration, or illustration." Any embodiment described in this application as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is provided to enable anyone skilled in the art to implement and use the present application. In the following description, details are listed for illustrative purposes. It should be understood that one of ordinary skill in the art will recognize that the present application can be implemented without these specific details. In other instances, well-known structures and processes are not described in detail to avoid obscuring the description of this application with unnecessary detail. Therefore, this 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 herein.

[0030] Figure 1 Schematic diagram of a laser line enhancement method for online measurement of ice shape provided in an embodiment of the present application. Figure 1 As shown, the laser line enhancement method may include steps 101-105, which are described in detail below.

[0031] Step 101: Use a polarization optical imaging device to collect an original image of the laser sheet light scanning the bright ice, where the original image includes the scanning laser line.

[0032] A polarization optical imaging device is an imaging device that uses the polarization properties of light to obtain image information. The polarization state of the incident light is selectively filtered, modulated, and analyzed through a polarization filter element (such as a polarization filter) to capture polarization-related image information. The embodiment of the present application utilizes a polarization optical imaging device to perform laser sheet light scanning on clear ice, and an original image containing the scanned laser line can be obtained. Clear ice is transparent and structurally solid ice accumulation formed under specific meteorological conditions. Polarization optical imaging devices are capable of recording light information in different polarization directions, while laser sheet light scanning technology forms a laser line for subsequent image processing by irradiating the surface of the clear ice in the form of a sheet beam of laser light.

[0033] When laser sheet light is projected onto the surface of clear ice, stray light and transmitted light are generated. Compared with ordinary optical imaging equipment, polarization optical imaging equipment can capture polarization information, providing a basis for subsequent separation of polarization sub-images, which helps to improve image quality and information richness.

[0034] Figure 2 Schematic diagram of collecting laser line images of bright ice by laser sheet light scanning using ordinary optical imaging equipment. Figure 2 ,The original image of the laser sheet light scan captured by ordinary optical ,imaging equipment contains stray light and transmitted light, which causes the ,laser line formed on the bright ice surface in the original image to be not ,ideal and clear.

[0035] Figure 3 This is a schematic diagram of a method for collecting a laser line image of a laser sheet light scanning bright ice by a polarized optical imaging device provided in an embodiment of the present application. Figure 3 , a relatively obvious scanning laser line is formed on the surface of the bright ice ridge, and stray light and transmitted light are effectively suppressed.

[0036] Step 102: Separate the original image into a plurality of polarization sub-images containing different polarization channels.

[0037] In the embodiment of the present application, a polarization channel refers to a channel that selectively captures a light signal of a specific polarization direction through a specific polarization element (such as a polarizer or a polarization beam splitter prism). The original image captured by the polarization optical imaging device can be separated into multiple polarization sub-images by methods such as a polarization filter array, a polarization beam splitter prism, or time-series polarization imaging. Each polarization sub-image can correspond to a polarization direction and contain light information of a specific polarization direction, thereby enabling a more detailed analysis of image features under different polarization directions. By separating the polarization sub-images, the mutual interference of light in different polarization directions can be effectively reduced, thereby improving the clarity and contrast of the image. In addition, multiple polarization sub-images can provide richer light information, which is conducive to a more comprehensive analysis and processing of the image later.

[0038] As an example, the plurality of polarization sub-images may include polarization sub-images corresponding to polarization states of 0°, 45°, 90°, and 135°. Figures 4 to 7 , Figure 4 A schematic diagram of a polarization sub-image corresponding to a 0° polarization state provided in an embodiment of the present application; Figure 5 A schematic diagram of a polarization sub-image corresponding to a 45° polarization state provided in an embodiment of the present application; Figure 6 A schematic diagram of a polarization sub-image corresponding to a 90° polarization state provided in an embodiment of the present application; Figure 7 This is a schematic diagram of a polarization sub-image corresponding to a 135° polarization state provided in an embodiment of the present application.

[0039] Step 103 : determining a second light intensity value at each pixel position in the plurality of polarization sub-images according to the first light intensity value at each pixel position, and generating a modulated intensity image of the plurality of polarization sub-images based on the second light intensity value at each pixel position.

[0040] In the embodiment of the present application, the first light intensity value refers to the original light intensity value at each pixel position in the multiple polarization sub-images separated from the original image. The first light intensity value of each polarization sub-image reflects the light intensity value at each pixel position under the polarization state corresponding to the polarization sub-image. The modulated intensity image is an image obtained by processing the polarization sub-image, which reflects the light intensity modulation information at each pixel position, can highlight areas with significant polarization characteristics, while suppressing 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 at each pixel position in the modulated intensity image.

[0041] In the embodiments of the present application, the second light intensity value is calculated based on the first light intensity values ​​of the multiple polarized sub-images using a specific algorithm or formula. The second light intensity value reflects the modulation information of the light intensity. Therefore, a modulated intensity image can be generated based on the second light intensity value. Because the modulated intensity value generally better reflects changes in light intensity and contrast, generating a modulated intensity image can more prominently display the features of the scanned laser line. 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 more clearly visible.

[0042] Step 104: Determine a third light intensity value at each pixel position based on the first light intensity value at each pixel position in the multiple polarization sub-images and the second light intensity value at each pixel position in the modulated intensity image, and generate a composite image of the multiple polarization sub-images based on the third light intensity value at each pixel position.

[0043] A composite image is generated by fusing multiple polarization sub-images. By combining the information of sub-images with different polarization directions, it can provide a more comprehensive and richer description of the scene, highlight important features and reduce the impact of noise.

[0044] In this embodiment of the present application, a third light intensity value at each pixel in each polarization sub-image and the second light intensity value at each pixel in the modulated intensity image can be combined using a fusion algorithm. This third light intensity value combines the original and modulated light intensity information, more comprehensively reflecting the image's characteristics. A composite image is then generated based on this third light intensity value.

[0045] Figure 8 Schematic diagram of a composite image of multiple polarized sub-images provided in an embodiment of the present application. Figure 8 As shown, the composite image combines information from multiple polarization sub-images with the modulated light intensity information from the modulated intensity image, providing a more comprehensive image profile. By integrating multiple information into the composite image, the image's robustness to environmental changes and noise is improved, making it more stable and reliable.

[0046] Step 105 : Determine a fourth light intensity value at each pixel position in the synthesized image according to the third light intensity value at each pixel position, and generate an enhanced image corresponding to the synthesized image based on the fourth light intensity value at each pixel position.

[0047] An enhanced image is created by further processing a composite image to optimize its visual quality and analytical capabilities. In this embodiment of the present application, the third light intensity value at each pixel in the composite image can be further processed to calculate a fourth light intensity value at each pixel. This optimized fourth light intensity value can better highlight important features in the image, and an enhanced image is generated based on the fourth light intensity value.

[0048] Figure 9 Schematic diagram of an enhanced image corresponding to a composite image provided in an embodiment of the present application. Figure 9 As shown, enhanced images can better adapt to different display requirements, making the details and features in the image clearer and more intuitive. Enhanced images have higher value in practical applications and can more effectively support subsequent processing and analysis.

[0049] The embodiment of the present application uses a polarized optical imaging device to capture the original image of the laser sheet light scanning the bright ice. Compared with ordinary optical imaging devices, the polarized optical imaging device can filter out most of the stray light with a different polarization direction than the scanning laser line due to the action of the polarization filter element, making the scanning laser line more prominent. By separating the original image into multiple polarization sub-images containing different polarization channels, more comprehensive scene information can be obtained. By calculating and converting the light intensity value, the contrast between the background and the scanning laser line in the original image can be enhanced, thereby obtaining a clearer image of the laser sheet light scanning the bright ice containing the scanning laser line. The calculation process is simpler, and the recognition accuracy of the scanning laser line is improved.

[0050] In step 103, a second light intensity value for each pixel position can be calculated based on the first light intensity value at each pixel position in the multiple polarization sub-images. As an example, the squares of multiple first light intensity values ​​for the same pixel position in the multiple polarization sub-images can be calculated, converting the first light intensity values ​​to non-negative numbers and amplifying the intensity differences to highlight the polarization characteristics. The squared first light intensity values ​​are then added together to combine information from different polarization directions, resulting in a composite first light intensity value. The square root of this composite first light intensity value is then taken to convert it back to the light intensity magnitude while maintaining the intensity differences. A modulated intensity image is then generated based on the second light intensity value at each pixel position.

[0051] For example, the second light intensity value can be calculated using the following formula:

[0052] ;

[0053] in, The pixel position is The second light intensity value, For the The pixel position in the polarization sub-image is The first light intensity value.

[0054] In the process of synthesizing multiple polarization sub-images in the embodiment of the present application, the quality of the synthesized image can be optimized by considering the domain information, and the local information in the modulated intensity image, such as the light intensity value at a certain pixel position and the domain pixel position, can be used to enhance the image features.

[0055] Therefore, in step 104, the target pixel position with the maximum second light intensity value within the first set neighborhood range of each pixel position in the modulated intensity image can be first obtained. The first set neighborhood range refers to a pre-set range of neighborhood pixels belonging to a certain pixel position in the modulated intensity image. For example, the pre-set range is a neighborhood sampling in the vertical direction, which can be set to a certain number of pixel positions above and / or a certain number of pixel positions 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 neighborhood pixel range.

[0056] Then, a first distance between each pixel position and the target pixel position corresponding to each pixel position is determined. The first distance refers to the Euclidean distance between the pixel position and the target pixel position corresponding to the pixel position in the modulated intensity image, which can be calculated using a Euclidean distance calculation method.

[0057] Next, for each pixel position, a third light intensity value is determined based on the first distance, and the second light intensity value of each pixel position in the modulated intensity image is replaced with the third light intensity value, thereby generating a composite image of multiple polarization sub-images.

[0058] The method of determining the third light intensity value for each pixel position specifically includes the following steps: for each pixel position, determining whether the first distance is greater than a first set distance. The first set distance is a preset threshold for determining the value of the third light intensity value.

[0059] If the first distance is greater than the first set distance, indicating that the pixel position is far from the center of the scanning laser line, the minimum of the first light intensity values ​​at that pixel position in the multiple polarization sub-images is used as the third light intensity value for that pixel position. If the first distance is less than or equal to the first set distance, indicating that the pixel position is close to the center of the scanning laser line, the maximum of the first light intensity values ​​at that pixel position in the multiple polarization sub-images is used as the third light intensity value for that pixel position. This suppresses the light intensity at locations not in the scanning laser line and emphasizes the light intensity at locations in the scanning laser line.

[0060] For example, the third light intensity value can be calculated using the following formula:

[0061] ;

[0062] in, The pixel position is The third light intensity value, The pixel position is a first distance between the target pixel position corresponding to the pixel position, Set the distance for the first one.

[0063] In step 105, the maximum value of the third light intensity value within the second set neighborhood range of each pixel position in the composite image, as well as the pre-set first set value and second set value, can be first obtained. The second set neighborhood range refers to a pre-set range of neighborhood pixels belonging to a certain pixel position in the composite image. For example, the pre-set range is a neighborhood sampling in the vertical direction, which can be set to a certain number of pixel positions above and / or a certain number of pixel positions below the current pixel range as the second set neighborhood range. It should be noted that the values ​​of the first set neighborhood range and the second set neighborhood range can be the same or different. The first set value and the second set value both refer to pre-set thresholds for determining the value method of the fourth light intensity value. The first set value is smaller than the second set value. For example, the first set value can be a pre-set minimum threshold, and the second set value can be a pre-set maximum threshold. For each pixel position, the maximum value of the third light intensity value within the second set neighborhood range of the pixel position can be compared with the first set value and the second set value respectively.

[0064] If the maximum value of the third light intensity value is less than or equal to the first set value, it means that the pixel position is far away from the center of the scanning laser line and the pixel position can be regarded as the background. Then the fourth light intensity value of the pixel position is determined as the set light intensity value. The set light intensity value is a value that matches the light intensity value of the background and is usually set to a smaller 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: , ,in, The pixel position is The fourth light intensity value, The pixel position is The maximum value of the third light intensity value within the second set neighborhood range, is the first set value.

[0065] If the maximum value of the third light intensity value is greater than or equal to the second set value, it means that the distance between the pixel position and the center of the laser scanning line is relatively close, and the pixel position can be regarded as a strong laser line point. Then the light intensity value in the synthetic image can be retained, that is, 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: ,in, is the second set value, The pixel position is The third light intensity value.

[0066] 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 considered a weak laser line point, and the fourth light intensity value at the pixel position is determined based on the second distance between the pixel position and the target pixel position corresponding to the pixel position. The second distance refers to the Euclidean distance between the pixel position and the target pixel corresponding to the pixel position in the synthetic image, which can also be calculated using the Euclidean distance calculation method.

[0067] Specifically, it can be determined whether the second distance is greater than a second set distance. The second set distance is a preset threshold value for determining a value of the fourth light intensity value corresponding to the weak laser line point.

[0068] If the second distance is greater than the second set distance, it means that the pixel position is far away from the center of the scanning laser line, and 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:

[0069] ;in, The pixel position is The second distance, Set the distance for the second.

[0070] If the second distance is less than or equal to the second set distance, indicating that the pixel position is relatively close to the center of the scanning laser line, the fourth light intensity value at the pixel position can be calculated based on the second distance, the second set distance, the second set value, the third light intensity value at the pixel position, and the maximum value of the third light intensity values ​​within the second set neighborhood of the pixel position. This can make the scanning laser line more prominent, facilitating subsequent extraction of the scanning laser line.

[0071] For example, the fourth light intensity value can be calculated using the following formula:

[0072] .

[0073] In this formula, the numerator As a reference quantity, when the second distance The smaller, The closer the value is to In this way, we can The fourth light intensity value is weightedly adjusted based on the distance between the pixel position of the target pixel and the target pixel position. It can play a normalization role, normalize the adjustment amount of the numerator, and make a reasonable adjustment to the fourth light intensity value. Further adjustment can be made by dividing the second set distance by the maximum value of the third light intensity value within the second set neighborhood. 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 the light intensity adjustment coefficient, the pixel position can be obtained as The fourth light intensity value.

[0074] In an embodiment of the present application, the laser line enhancement method further includes a laser line extraction step. Specifically, first, a laser line extraction algorithm, such as the Steger method or the gradient centroid method, is used to analyze the grayscale distribution characteristics of the scanning laser line in the enhanced image pixel by pixel, and the two-dimensional coordinate data of the scanning laser line is extracted from the enhanced image.

[0075] The polarization optical imaging device can then be precisely calibrated in advance to obtain its internal parameters (such as focal length and principal point coordinates) and external parameters (such as rotation matrix and translation vector), while also determining the parameters of the plane equation of the laser sheet light in space. Then, based on the geometric relationship between the pinhole imaging and the laser plane, the extracted two-dimensional coordinate data is converted from the image coordinate system to the world coordinate system using a coordinate transformation algorithm based on the imaging parameters of the calibrated polarization optical imaging device and the plane parameters of the laser sheet light. The three-dimensional coordinate data of the scanned laser line in the world coordinate system is then determined. This allows the scanned laser line data, which only reflects the position of the image plane, to be converted into three-dimensional coordinate data with actual spatial position information, providing a foundation for subsequent applications such as three-dimensional modeling and dimensional measurement.

[0076] Furthermore, to accurately represent the geometric shape of the clear ice, the measured three-dimensional coordinate data must be converted into a closed surface. In the embodiments of the present application, post-processing operations such as noise filtering, surface encapsulation, and hole repair can also be performed to ultimately generate a closed surface representing the clear ice.

[0077] Figure 10This is a flow chart of a laser line enhancement method for online measurement of ice shape provided in a specific embodiment of the present application. Figure 10 As shown, first, a laser sheet light is scanned on the bright ice using a polarization optical imaging device to obtain an original image containing the 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, a modulated intensity image of the multiple polarization sub-images is generated. Further, a composite image is generated based on the original image and the modulated intensity image. The composite image is then enhanced to obtain an enhanced image corresponding to the composite image. Finally, the scanning laser line is extracted based on the enhanced image, and a three-dimensional reconstruction of the bright ice shape is performed. In this way, the original image of the bright ice is collected by a polarization optical imaging device and separated into multiple polarization sub-images. Then, by calculating the light intensity value and combining all the polarization sub-images, better recognition of the scanning laser line can be achieved, thereby obtaining more accurate measurement results.

[0078] Figure 11 FIG. 1 is a schematic diagram of a laser line enhancement system 1100 for online measurement of ice shape provided in an embodiment of the present application. Figure 11 As 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 the instructions from the memory 1101 and implement the above-mentioned laser line enhancement method for online ice shape measurement when executing the instructions.

[0079] An embodiment of the present application also provides a computer-readable storage medium, in which a program is stored. The program can be loaded by a processor and executed as described above, for a laser line enhancement method for online measurement of ice shape.

[0080] Those skilled in the art will appreciate that all or part of the functions of the various methods in the above embodiments can be implemented by hardware or by computer program. When all or part of the functions in the above embodiments are implemented by computer program, the program can be stored in a computer-readable storage medium, and the storage medium can include: read-only memory, random access memory, disk, optical disk, hard disk, etc., and the program is executed by a computer to implement the above functions. For example, the program is stored in the memory of the device, and when the program in the memory is executed by the processor, all or part of the above functions can be implemented. In addition, when all or part of the functions in the above embodiments are implemented by computer program, the program can also be stored in a storage medium such as a server, another computer, disk, optical disk, flash disk or mobile hard disk, and saved in the memory of the local device by downloading or copying, or the system of the local device is updated. When the program in the memory is executed by the processor, all or part of the functions in the above embodiments can be implemented.

[0081] The above specific examples are used to illustrate the present application, which is only used to help understand the present application and is not intended to limit the present application. For those skilled in the art of the present application, based on the concept of the present application, they can also make some simple deductions, modifications or substitutions.

Claims

1. A laser line enhancement method for online measurement of ice shape, characterized in that: include: Using a polarized optical imaging device to collect an original image of the laser sheet light scanning the bright ice, the original image including the scanning laser line; Separating the original image into a plurality of polarization sub-images including different polarization channels; Determining a second light intensity value for each pixel position in the plurality of polarization sub-images according to the first light intensity value for each pixel position, and generating a modulated intensity image for the plurality of polarization sub-images based on the second light intensity value for each pixel position; Determining a third light intensity value at each pixel position based on the first light intensity value at each pixel position in the plurality of polarization sub-images and the second light intensity value at each pixel position in the modulated intensity image, and generating a composite image of the plurality of polarization sub-images based on the third light intensity value at each pixel position; According to the third light intensity value of each pixel position in the synthesized image, a fourth light intensity value of each pixel position is determined, and an enhanced image corresponding to the synthesized image is generated based on the fourth light intensity value of each pixel position.

2. The laser line enhancement method for online measurement of ice shape according to claim 1, characterized in that: The step of determining a second light intensity value for each pixel position in the plurality of polarized sub-images according to the first light intensity value for each pixel position, and generating a modulated intensity image for the plurality of polarized sub-images based on the second light intensity value for each pixel position, comprises: A second light intensity value of each pixel position in the plurality of polarized sub-images is calculated based on the first light intensity value of each pixel position, where the second light intensity value is calculated using the following formula: ； in, The pixel position is The second light intensity value, For the The pixel position in the polarization sub-image is The first light intensity value; The modulated intensity image is generated based on the second light intensity value at each of the pixel positions.

3. The laser line enhancement method for online measurement of ice shape according to claim 1, characterized in that: The method of determining a third light intensity value at each pixel position based on the first light intensity value at each pixel position in the plurality of polarized sub-images and the second light intensity value at each pixel position in the modulated intensity image, and generating a composite image of the plurality of polarized sub-images based on the third light intensity value at each pixel position, comprises: Acquire 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 modulated intensity image; respectively determining a first distance between each of the pixel positions and the target pixel position corresponding to each of the pixel positions; For each pixel position, determining a third light intensity value of each pixel position according to the first distance; The second light intensity value of each pixel position in the modulated intensity image is replaced with the third light intensity value to generate a composite image of the plurality of polarization sub-images.

4. The laser line enhancement method for online measurement of ice shape according to claim 3 is characterized in that: The step of determining, for each pixel position, a third light intensity value at 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 polarization 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, the maximum value of the first light intensity values ​​of the pixel position in the plurality of polarization sub-images is used as the third light intensity value of the pixel position.

5. The laser line enhancement method for online measurement of ice shape according to claim 1, characterized in that: Determining a fourth light intensity value at each pixel position in the synthesized image according to the third light intensity value at each pixel position, and generating an enhanced image corresponding to the synthesized image based on the fourth light intensity value at each pixel position, includes: Obtaining a maximum value of a third light intensity value within a second set neighborhood range of each pixel position in the composite image, as well as a preset first set value and a preset second set value, wherein the first set value is smaller than the second set value; For each pixel position, comparing the maximum value of the third light intensity value 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 at the pixel position as the set light intensity value; If the maximum value of the third light intensity value is greater than or equal to the second set value, the third light intensity value at the pixel position is used as the fourth light intensity value at 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, a fourth light intensity value of the pixel position is determined according to a second distance between the pixel position and a target pixel position corresponding to the pixel position.

6. The laser line enhancement method for online measurement of ice shape according to claim 5, characterized in that: Determining a 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 includes: determining whether the second distance is greater than a second set distance; If the second distance is greater than the second set distance, the third light intensity value at the pixel position is used as the fourth light intensity value at the pixel position; If the second distance is less than or equal to the second set distance, a fourth light intensity value at the pixel position is calculated based on the second distance, the second set distance, the second set value, the third light intensity value at the pixel position, and the maximum value of the third light intensity values ​​within the second set neighborhood range of the pixel position. The fourth light intensity value is calculated using the following formula: ； in, The pixel position is The fourth light intensity value, The pixel position is The second distance, For the second set distance, is the second set value, The pixel position is The maximum value of the third light intensity value within the second set neighborhood range, The pixel position is The third light intensity value.

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

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

9. A laser line enhancement system for online measurement of ice shape, characterized in that: include: a memory configured to store instructions; and a processor, wherein the processor is configured to call the instructions from the memory and implement the laser line enhancement method for online measurement of ice shape according to any one of claims 1 to 8 when executing the instructions.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a program, which can be loaded by a processor and execute the laser line enhancement method for online measurement of ice shape according to any one of claims 1 to 8.

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