Marine floating type photovoltaic physical model test pose monitoring method and system
By using binocular camera calibration and three-dimensional coordinate calculation, the problems of accuracy and environmental adaptability in motion response monitoring of floating photovoltaic systems at sea were solved, achieving efficient and real-time pose monitoring and reducing costs and equipment interference.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-01
- Publication Date
- 2026-03-10
AI Technical Summary
Existing technologies for motion response monitoring of floating photovoltaic systems at sea suffer from problems such as low accuracy, significant equipment interference, cumbersome or expensive installation, and environmental sensitivity, making it difficult to achieve efficient and accurate full-time measurement.
The method employs binocular camera calibration, target tracking, and 3D coordinate calculation. By calibrating the binocular camera, the pixel position of the marker point in the camera is determined, and the 3D coordinates of the marker point are calculated by combining intrinsic and extrinsic parameter matrices, ultimately realizing the calculation of six-degree-of-freedom pose.
It enables efficient and real-time acquisition of kinematic data from floating photovoltaic physical models at sea, improving measurement efficiency, avoiding the costs associated with cumbersome equipment installation and complex operation, and is unaffected by ambient light and equipment interference, thus offering high cost-effectiveness.
Smart Images
Figure CN121632091A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of posture monitoring technology, and in particular to a method and system for posture monitoring in marine floating photovoltaic physical model experiments. Background Technology
[0002] Floating solar power is becoming a new hotspot in global energy development. Benefiting from the vastness of the ocean, this technology offers an innovative solution to alleviate pressure on land resources. However, the complexity of the marine environment, including the combined effects of strong winds, waves, and ocean currents, poses significant challenges to the design and deployment of floating photovoltaic systems. In the early stages of research, physical model testing is a crucial means of exploring this field. Obtaining motion data of floating structures in a dynamic marine environment through experiments can provide a scientific basis for optimized design, further promoting the development of floating photovoltaic technology.
[0003] However, currently used motion response monitoring methods have certain limitations: traditional contact measurement methods (such as ruler measurement and gyroscope tilt measurement) are difficult to achieve efficient and accurate full-time measurement, and the equipment has a large interference with the characteristics of the floating body; complex physical equipment (such as six-component measurement systems) have high accuracy, but are cumbersome to install and are not suitable for small models; visual measurement systems based on active infrared light sources have high accuracy and fast response capabilities, but the equipment is expensive, sensitive to ambient light, and easily interfered with, which limits their widespread application. Summary of the Invention
[0004] To address the aforementioned problems, the purpose of this invention is to provide a method and system for monitoring the pose of a floating photovoltaic physical model experiment at sea.
[0005] A method for monitoring the attitude of a floating photovoltaic physical model test at sea, comprising: S1: Calibrate the stereo camera to obtain the intrinsic and extrinsic parameter matrices of the left and right cameras of the stereo camera; S2: The binocular camera tracks the marker points of the floating photovoltaic physical model at sea and determines the pixel position of the marker points in the binocular camera; S3: Calculate the 3D coordinates of the marker point based on the pixel position and the intrinsic and extrinsic parameter matrices of the left and right cameras of the stereo camera; S4: Calculate the six-degree-of-freedom pose of the floating photovoltaic physical model at sea based on the three-dimensional coordinates of the marked points.
[0006] Preferably, in step S1, a binocular camera is used to capture images of a checkerboard pattern at different positions. The captured images are then processed using a calibration algorithm to calculate the intrinsic and extrinsic parameter matrices of the left and right cameras.
[0007] Preferably, in S2, the marker point is a solid black circle with a clear circular boundary.
[0008] Preferably, step S2: calculating the three-dimensional coordinates of the marker point based on the pixel position and the intrinsic and extrinsic parameter matrices of the left and right cameras of the stereo camera, includes: S21: Use a binocular camera to take images of a floating photovoltaic physical model at sea with marked points; S22: Use a target tracking algorithm to extract the target region with marked points from an image of a floating photovoltaic physical model at sea; S23: Perform binarization processing on the target region to obtain a binarized target region; S24: Edge information of marked points in the binary target region is extracted using edge detection method, and the edge information is fitted to an ellipse using the least squares method to obtain the center coordinates of the marked points.
[0009] Preferably, step S3: calculating the three-dimensional coordinates of the marker point based on the pixel position and the intrinsic and extrinsic parameter matrices of the left and right cameras of the stereo camera, includes: S3.1: Construct simplified imaging models for the left camera and the right camera based on the intrinsic and extrinsic parameter matrices; S3.2: The simplified imaging model is solved by the least squares method to obtain the three-dimensional coordinates of the marker points.
[0010] Preferably, in S23, the pixel values of pixels within the target area that are less than a threshold are set to 255, where the threshold is calculated using the formula: thresh = I max *0.8, I max This represents the maximum grayscale value.
[0011] This invention also provides a posture monitoring system for a floating photovoltaic physical model experiment at sea, comprising: The camera calibration module is used to calibrate the stereo camera and obtain the intrinsic and extrinsic parameter matrices of the left and right cameras of the stereo camera. The tracking module is used to track the marker points of the floating photovoltaic physical model at sea using the binocular camera and determine the pixel position of the marker points in the binocular camera. The 3D coordinate calculation module is used to calculate the 3D coordinates of the marker points based on the pixel position and the intrinsic and extrinsic parameter matrices of the left and right cameras of the stereo camera. The pose calculation module is used to perform six-degree-of-freedom pose calculations for a floating photovoltaic physical model at sea based on the three-dimensional coordinates of the marked points.
[0012] The present invention also provides an electronic device, including a bus, a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor. The transceiver, the memory, and the processor are connected via the bus. The computer program, when executed by the processor, implements the steps in the above-described method for monitoring the pose of a floating photovoltaic physical model test at sea.
[0013] The present invention also provides a storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the steps in the above-described method for monitoring the pose of a floating photovoltaic physical model test at sea.
[0014] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects: This invention relates to a method for monitoring the pose of a floating photovoltaic physical model at sea. Compared with the prior art, the binocular vision monitoring method of this invention can efficiently and in real time acquire the kinematic data of the floating photovoltaic physical model at sea, which not only improves the measurement efficiency, but also avoids the time and manpower costs caused by the cumbersome equipment installation or complicated operation in traditional methods.
[0015] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description
[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0017] Figure 1 A flowchart of a method for monitoring the pose of a floating photovoltaic physical model test at sea, provided by the present invention; Figure 2 A flowchart illustrating the specific steps of target positioning provided by this invention; Figure 3 A schematic diagram illustrating the principle of spatial coordinate calculation provided for this invention; Figure 4 This is a schematic diagram of the relative pose calculation method provided by the present invention; Figure 5 This is a schematic diagram illustrating the process of attaching the designed target to a floating photovoltaic physical model at sea, as provided by the present invention. Detailed Implementation
[0018] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.
[0019] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.
[0020] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.
[0021] Please see Figure 1 A method for monitoring the pose of a floating photovoltaic physical model test at sea, comprising the following steps: S1: Calibrate the stereo camera to obtain the intrinsic and extrinsic parameter matrices of the left and right cameras.
[0022] In step S1, a binocular camera is used to capture images of a checkerboard pattern at different positions. The captured images are then processed using a calibration algorithm to calculate the intrinsic and extrinsic parameter matrices of the left and right cameras.
[0023] S2: The binocular camera tracks the marker points of the floating photovoltaic physical model at sea and determines the pixel position of the marker points in the binocular camera; Furthermore, S2 includes: S21: Use a binocular camera to take images of a floating photovoltaic physical model at sea with marked points; S22: Use a target tracking algorithm to extract the target region with marked points from an image of a floating photovoltaic physical model at sea; S23: Perform binarization processing on the target region to obtain a binarized target region; S24: Edge information of marked points in the binary target region is extracted using edge detection method, and the edge information is fitted to an ellipse using the least squares method to obtain the center coordinates of the marked points.
[0024] S3: Calculate the 3D coordinates of the marker point based on the pixel position and the intrinsic and extrinsic parameter matrices of the left and right cameras of the stereo camera; S3 includes: S3.1: Construct simplified imaging models for the left camera and the right camera based on the intrinsic and extrinsic parameter matrices; S3.2: The simplified imaging model is solved by the least squares method to obtain the three-dimensional coordinates of the marker points.
[0025] S4: Calculate the six-degree-of-freedom pose of the floating photovoltaic physical model at sea based on the three-dimensional coordinates of the marked points.
[0026] The following section provides a further explanation of the pose monitoring method for a floating photovoltaic physical model experiment at sea, based on specific application scenarios: Step S1: Calibrate the stereo camera using a single-plane checkerboard grid to obtain the intrinsic and extrinsic parameter matrices of the left and right cameras. The specific steps are as follows: Step S11: Acquire a series of images using a standard checkerboard pattern.
[0027] Step S12: Using existing calibration algorithms (such as camera calibration functions in OpenCV), process the acquired images to calculate the intrinsic and extrinsic parameter matrices of the left and right cameras. These matrices will provide the basic data for subsequent spatial 3D coordinate point reconstruction and target localization.
[0028] Step S2: Design a marker point suitable for a floating photovoltaic physical model at sea. In computer vision imaging, a circle appears as an ellipse after perspective projection, and its center position remains roughly unchanged when the target tilts slightly. This characteristic is significant for floating structures with varying tilt angles. The designed target has a solid black circle in the center with a clearly defined circular boundary.
[0029] Step S3: Use the target points designed in step S2 above to track the target.
[0030] The specific steps of step S3 are as follows: Step S31: Transmit the image of the physical model with the design target to the target tracking method (such as KCF, CSRT and other target tracking methods in OpenCV) for calculation, and then extract the tracked target region from the image.
[0031] Step S32: Binarize the target region: To adapt to different environments, an adaptive threshold segmentation method is used. Since the image only contains black solid circles and a white background, the goal is to segment out the black solid circles. The threshold used in this method is calculated using Equation 1, where I... max This represents the maximum grayscale value of the image.
[0032] thresh=I max *0.8(1) Step S33: An edge detection method is used to extract the edge of the solid black circle to effectively reduce the influence of noise. Then, the edge information is fitted to an ellipse using the least squares method, and the center (u,v) of the obtained ellipse is the sub-pixel level center coordinate of the target.
[0033] Step S4: By determining the pixel position of the target point in the left and right cameras, the projection of the target point onto space along the line of sight of the two cameras is extended. The intersection of the projection lines is the three-dimensional spatial coordinate of the target point, such as... Figure 3 As shown. The following is the specific solution process for the three-dimensional spatial coordinates: The product of the intrinsic and extrinsic parameter matrices in step S1 above can be recorded as a new matrix. .use 1 represents the parameter matrix of the left camera. 2 represents the parameter matrix of the right camera. Then, the simplified imaging model of the left camera is shown in equation (2).
[0034] (2) Correspondingly, the simplified imaging model of the right camera is shown in equation (3). In equations (2) and (3), ( u 左 , v 左 ) represents the pixel coordinates of the target in the left camera, ( u 右 , v 右 ) represents the pixel coordinates of the target in the right camera, ( X , Y , Z ) represents the spatial coordinates of the target. (3) By combining equations (2) and (3) and then solving the above equations using the least squares method, the three-dimensional coordinates of the spatial point can be obtained. X , Y , Z ).
[0035] Step S5: Perform six-degree-of-freedom pose calculations for the floating photovoltaic physical model at sea.
[0036] This invention accurately describes the overall motion state of a floating photovoltaic (PV) physical model by analyzing the trajectories of three non-collinear target points on the model. By establishing an inertial coordinate system and a world coordinate system, and utilizing the relationship between the basis vectors of these two systems, combined with matrix operations (such as SVD decomposition), the rotation matrix and Euler angle parameters of the floating body are calculated, thereby obtaining the roll, pitch, and bow attitude information of the floating body. Based on this method, the positional changes of any point on the floating body structure in the world coordinate system can be further calculated, achieving a comprehensive description and precise tracking of the dynamic behavior of the floating PV model.
[0037] The following is combined with Figures 1-5 This paper provides an example of the practical application of the binocular vision pose monitoring method for floating physical model experiments at sea.
[0038] First, three design target points are attached to the floating photovoltaic physical model at sea, forming an isosceles triangle. Their relative positions are recorded, and the orthogonal basis of the inertial frame is calculated. Then, the binocular vision system calibrated in step S1 is positioned appropriately inside or above the water tank, and the video data is transmitted to a computer via USB for visual task processing. It is important to note that the world coordinate system in step S5 is established in the left camera coordinate system; therefore, the pose of the floating photovoltaic physical model is relative to the position of the binocular camera. To facilitate understanding the pose of the physical model, the binocular camera is positioned as parallel or perpendicular to the water tank as possible. After setup, steps S3-S5 can be used to calculate and output the pose of the floating photovoltaic physical model in real time.
[0039] According to specific embodiments of the present invention, the present invention has the following beneficial effects: 1. This invention discloses a binocular vision pose monitoring method for floating physical model experiments at sea. Utilizing computer vision and digital image processing technologies, it can achieve six-degree-of-freedom measurement of floating photovoltaic physical models at sea with low cost and high accuracy. This makes the method more cost-effective in practical applications.
[0040] 2. Wide applicability: Compared with traditional measurement methods, the method of this invention is not limited by the environment and complex physical equipment, and has strong environmental adaptability. Through adaptive threshold segmentation and target tracking methods, it can operate stably under various environmental conditions.
[0041] 3. High efficiency: Compared with traditional contact measurement and measurement with complex equipment, the binocular vision monitoring method of the present invention can efficiently and in real time acquire the kinematic data of the floating photovoltaic physical model at sea. This not only improves the measurement efficiency, but also avoids the time and manpower costs caused by the cumbersome equipment installation or complicated operation in traditional methods.
[0042] 4. Convenience and operability: This method does not require complex physical equipment or expensive sensors. Simply attach the designed target points to the floating structure, and high-precision measurements can be achieved through a binocular vision system. This method is simple to operate and easy to implement, making it particularly suitable for experimental research and development of floating photovoltaic physical models at sea.
[0043] 5. Non-contact measurement: The method of this invention is based on non-contact visual monitoring, which avoids the influence of contact measurement on the floating body structure in traditional methods, such as the mass change that may be caused by the gyroscope, thus reflecting the motion characteristics of the floating body more realistically.
[0044] 6. Dynamic monitoring capability: By calculating the six-degree-of-freedom pose parameters of the floating structure, this invention can track the motion state of the floating structure in real time and accurately estimate its position changes in three-dimensional space, providing reliable data support for the performance evaluation and optimization of offshore floating photovoltaic systems.
[0045] This invention also provides a posture monitoring system for a floating photovoltaic physical model experiment at sea, comprising: The camera calibration module is used to calibrate the stereo camera and obtain the intrinsic and extrinsic parameter matrices of the left and right cameras of the stereo camera. The tracking module is used to track the marker points of the floating photovoltaic physical model at sea using the binocular camera and determine the pixel position of the marker points in the binocular camera. The 3D coordinate calculation module is used to calculate the 3D coordinates of the marker points based on the pixel position and the intrinsic and extrinsic parameter matrices of the left and right cameras of the stereo camera. The pose calculation module is used to perform six-degree-of-freedom pose calculations for a floating photovoltaic physical model at sea based on the three-dimensional coordinates of the marked points.
[0046] Compared with the prior art, the beneficial effects of the pose monitoring system for a floating photovoltaic physical model test at sea provided by the present invention are the same as the beneficial effects of the pose monitoring method for a floating photovoltaic physical model test at sea described in the above technical solution, and will not be repeated here.
[0047] The present invention also provides an electronic device, including a bus, a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor. The transceiver, the memory, and the processor are connected via the bus. The computer program, when executed by the processor, implements the steps in the above-described method for monitoring the attitude of a floating photovoltaic physical model test at sea. Compared with the prior art, the beneficial effects of the electronic device provided by the present invention are the same as those of the above-described method for monitoring the attitude of a floating photovoltaic physical model test at sea, and will not be elaborated upon here.
[0048] The present invention also provides a storage medium storing a computer program thereon, characterized in that, when the computer program is executed by a processor, it implements the steps in the above-described method for monitoring the pose of a floating photovoltaic physical model test at sea. Compared with the prior art, the beneficial effects of the storage medium provided by the present invention are the same as the beneficial effects of the above-described method for monitoring the pose of a floating photovoltaic physical model test at sea, and will not be elaborated here.
[0049] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.
Claims
1. A method for monitoring the position of a physical model test of a floating photovoltaic system at sea, characterized in that, The method comprises the following steps: S1: calibrating the binocular camera to obtain the intrinsic matrix and extrinsic matrix of the left and right cameras of the binocular camera; S2: tracking the marker points of the offshore floating photovoltaic physical model by the binocular camera to determine the pixel positions of the marker points in the binocular camera; S3: calculating the three-dimensional coordinates of the marker points according to the pixel positions and the intrinsic matrix and extrinsic matrix of the left and right cameras of the binocular camera; S4: completing the six-degree-of-freedom pose calculation of the offshore floating photovoltaic physical model according to the three-dimensional coordinates of the marker points.
2. The method according to claim 1, wherein, In the S1, the binocular camera is used to take pictures of the checkerboard pattern at different positions to obtain shooting images, and a calibration algorithm is used to process the shooting images to calculate the intrinsic matrix and extrinsic matrix of the left and right cameras.
3. The method according to claim 2, wherein, In the S2, the marker point is a black solid circle and has a clear circular boundary.
4. The method according to claim 3, wherein, The S2: calculating the three-dimensional coordinates of the marker points according to the pixel positions and the intrinsic matrix and extrinsic matrix of the left and right cameras of the binocular camera, comprises: S21: using the binocular camera to take pictures of the offshore floating photovoltaic physical model with marker points; S22: using a target tracking algorithm to extract the target area with marker points from the offshore floating photovoltaic physical model pictures; S23: performing binaryzation processing on the target area to obtain a binaryzation target area; S24: using an edge detection method to extract the edge information of the marker points in the binaryzation target area, and using the least square method to perform ellipse fitting on the edge information to obtain the center coordinates of the marker points.
5. The method according to claim 4, wherein, The S3: calculating the three-dimensional coordinates of the marker points according to the pixel positions and the intrinsic matrix and extrinsic matrix of the left and right cameras of the binocular camera, comprises: S3.1: constructing a simplified imaging model of the left camera and a simplified imaging model of the right camera based on the intrinsic matrix and extrinsic matrix; S3.2: solving the simplified imaging model by the least square method to obtain the three-dimensional coordinates of the marker points.
6. The method according to claim 5, wherein, In S23, the pixel value of the pixel point less than the threshold value in the target region is set to 255, wherein the threshold value is calculated by the formula: thresh = I max * 0.8, I max represents the maximum gray value.
7. A sea floating photovoltaic physical model test pose monitoring system, characterized in that, The method comprises the following steps: A camera calibration module is configured to calibrate the binocular camera to obtain the intrinsic matrix and extrinsic matrix of the left and right cameras of the binocular camera; A tracking module is configured to track the marker points of the offshore floating photovoltaic physical model by the binocular camera to determine the pixel positions of the marker points in the binocular camera; A three-dimensional coordinate calculation module is configured to calculate the three-dimensional coordinates of the marker points according to the pixel positions and the intrinsic matrix and extrinsic matrix of the left and right cameras of the binocular camera; A pose calculation module is configured to complete the six-degree-of-freedom pose calculation of the offshore floating photovoltaic physical model according to the three-dimensional coordinates of the marker points.
8. An electronic device comprising a bus, a transceiver, a memory, a processor, and a computer program stored on the memory and executable on the processor, the transceiver, the memory and the processor being connected by the bus, characterized in that, The computer program is executed by the processor to implement the steps of the offshore floating photovoltaic physical model test pose monitoring method according to any one of claims 1-6.
9. A storage medium having stored thereon a computer program, characterized in that The computer program is executed by the processor to implement the steps of the offshore floating photovoltaic physical model test pose monitoring method according to any one of claims 1-6.