CN103308714B - In-water color particle image velocimetry system and measuring method thereof - Google Patents
In-water color particle image velocimetry system and measuring method thereof Download PDFInfo
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Abstract
本发明公开了一种水流中彩色粒子图像测速系统，包括河工模型、彩色示踪粒子、彩色网络摄像头、ＰＯＥ交换机和数字图像处理装置；所述彩色示踪粒子均匀分布在河工模型的水流中，所述网络摄像头安装在河工模型的水流表面上方，所述网络摄像头与ＰＯＥ交换机连接，所述ＰＯＥ交换机与数字图像处理装置相连接，所述数字图像装置包括数字图像处理软件。本发明还提供了彩色粒子图像测速方法。本发明克服了黑白摄像头对光照条件要求较高，容易受光照噪声的影响，流场数据错误矢量较多，从而影响其测量精度的技术问题。
The invention discloses a color particle image velocity measurement system in water flow, which comprises a river engineering model, color tracer particles, a color network camera, a POE switch and a digital image processing device; the color tracer particles are evenly distributed in the water flow of the river engineering model, The network camera is installed above the water flow surface of the river engineering model, the network camera is connected with a POE switch, the POE switch is connected with a digital image processing device, and the digital image device includes digital image processing software. The invention also provides a color particle image velocity measuring method. The invention overcomes the technical problems that the black-and-white camera has high requirements on light conditions, is easily affected by light noise, and has many flow field data error vectors, thereby affecting its measurement accuracy.
Description
技术领域 technical field
本发明涉及一种彩色粒子图像测速系统及其测量方法，具体涉及一种水流中表面流场的彩色粒子图像测速系统及其测量方法，属于水力学及河流动力学技术领域。 The present invention relates to a color particle image velocimetry system and its measurement method, in particular to a color particle image velocimetry system and its measurement method of the surface flow field in water flow, belonging to the technical fields of hydraulics and river dynamics.
背景技术 Background technique
水生态与水环境是生态文明建设的基础，水生态治理与修复、水污染防治与水环境改善等生态建设工程，急需更高水平的水流泥沙研究作为科技支撑。 模型试验是开展水流泥沙研究的重要方法，水流结构是模型试验研究的基础，而流速测量技术是获取水流结构的关键手段。因此，开展模型试验流场测量技术的研究对提高水流泥沙研究水平是十分必要和迫切的。 Water ecology and water environment are the foundation of ecological civilization construction. Ecological construction projects such as water ecological governance and restoration, water pollution prevention and water environment improvement urgently need a higher level of water flow and sediment research as scientific and technological support. Model test is an important method to carry out the study of water flow and sediment, the water flow structure is the basis of model test research, and the flow velocity measurement technology is the key means to obtain the water flow structure. Therefore, it is very necessary and urgent to carry out the research on the flow field measurement technology of the model test to improve the research level of the flow and sediment.
近年来流速测量技术取得了较快的发展，从单点流速测量发展到多点测量，从单向到多向、从稳态向瞬态发展，从毕托管、热线热膜流速仪、旋浆流速仪、超声波多谱勒流速仪（ADV）、激光流速仪(LDV)发展到粒子图像测速技术(PIV，Particle Image Velocimetry)。 目前在模型试验研究中，广泛应用的是粒子图像跟踪测速技术（PTV, Particle Tracking Velocimetry）,主要用于河工及港工模型大范围瞬时表面流场的测量。但由于目前的PTV流场测量系统多采用黑白摄像头，模型试验光照条件复杂以及水面、模型表面反光等情况会产生较多光照噪声，对黑白粒子图像（粒子通常为白色，反光也为白色）影响较大，测量对光照条件要求高、流场数据错误矢量较多、后处理过程复杂等难题急需得到解决，已经严重制约了水流泥沙研究水平的提高。 In recent years, flow velocity measurement technology has achieved rapid development, from single-point flow velocity measurement to multi-point measurement, from unidirectional to multi-directional, from steady state to transient Velocimeter, Ultrasonic Doppler Velocimeter (ADV), Laser Velocimeter (LDV) developed to Particle Image Velocimetry (PIV, Particle Image Velocimetry). At present, in the model test research, the Particle Tracking Velocimetry (PTV, Particle Tracking Velocimetry) technology is widely used, which is mainly used for the measurement of the large-scale instantaneous surface flow field of the river engineering and port engineering models. However, since the current PTV flow field measurement system mostly uses black and white cameras, the complex lighting conditions of the model test and the reflection of the water surface and the surface of the model will generate more lighting noise, which will affect the black and white particle image (the particles are usually white, and the reflection is also white). Problems such as high requirements on lighting conditions, many error vectors in flow field data, and complex post-processing processes need to be solved urgently, which have seriously restricted the improvement of the research level of water flow and sediment.
综上所述，模型试验流场测量技术是水流泥沙研究的关键技术，为了克服黑白粒子图像测速技术难以解决的难题，急需引入目前已经较为成熟的彩色图像处理技术，通过增加彩色信息有效提高粒子识别与匹配准确率，研发一种能够具备更高测量性能的彩色粒子图像测速的装置或系统，进一步提高模型试验流场测量技术水平。 To sum up, the flow field measurement technology of the model test is the key technology for the study of water flow and sediment. In order to overcome the difficult problem of the black-and-white particle image velocimetry technology, it is urgent to introduce the relatively mature color image processing technology. Particle identification and matching accuracy, develop a device or system for color particle image velocity measurement with higher measurement performance, and further improve the technical level of model test flow field measurement.
发明内容 Contents of the invention
发明目的：为了克服现有技术中存在的不足，本发明提供一种克服黑白粒子图像缺点的彩色粒子图像测速系统。 Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a color particle image velocimetry system that overcomes the shortcomings of black and white particle images.
本发明还提供了一种水流中彩色粒子图像测速的方法。 The invention also provides a method for measuring the speed of the color particle image in the water flow.
技术方案：为解决上述技术问题，本发明提供的一种水流中彩色粒子图像测速系统，包括河工模型、彩色示踪粒子、彩色网络摄像头、ＰＯＥ交换机和数字图像处理装置；所述彩色示踪粒子均匀分布在河工模型的水流中，所述网络摄像头安装在河工模型的水流表面上方，所述网络摄像头与ＰＯＥ交换机连接，所述ＰＯＥ交换机与数字图像处理装置相连接，所述数字图像装置包括数字图像处理软件。 Technical solution: In order to solve the above technical problems, the present invention provides a color particle image velocity measurement system in water flow, including a river engineering model, color tracer particles, color network camera, POE switch and digital image processing device; the color tracer particles Evenly distributed in the water flow of the river engineering model, the network camera is installed above the water flow surface of the river engineering model, the network camera is connected with a POE switch, and the POE switch is connected with a digital image processing device, and the digital image device includes a digital Image processing software.
本发明中，彩色网络摄像头拍摄彩色粒子的运动图像，POE交换机用于给彩色网络摄像头供电及向数字图像处理装置传输数字图像，数字图像处理装置对图像处理后显示流场。 In the present invention, the color network camera shoots moving images of colored particles, the POE switch is used to supply power to the color network camera and transmit digital images to the digital image processing device, and the digital image processing device displays the flow field after image processing.
作为优选，为了使示踪粒子更能符合流线型，所述彩色示踪粒子呈椭圆形状，所述示踪粒子的长轴宽度是示踪粒子短轴宽度的2~4倍。 As a preference, in order to make the tracer particles more streamlined, the colored tracer particles are in the shape of an ellipse, and the width of the long axis of the tracer particles is 2 to 4 times the width of the short axis of the tracer particles.
作为优选，为了与模型水体颜色具有明显差别，以便摄像头拍摄清晰的粒子图像，具有较好的散光性，能与水体颜色较好地区别开来，所述彩色示踪粒子分为红色、绿色和蓝色，所述示踪粒子采用PP材料与天然石膏调制而成，彩色示踪粒子的密度不超过水的密度，特别是接近或者略小于水的密度，这样示踪粒子漂浮于水流表面，跟随性好，不易搁浅，不易聚集。 Preferably, in order to have a clear difference from the color of the model water body, so that the camera can take clear particle images, have better astigmatism, and can be better distinguished from the color of the water body, the colored tracer particles are divided into red, green and Blue, the tracer particles are made of PP material and natural gypsum. The density of the colored tracer particles does not exceed the density of water, especially close to or slightly lower than the density of water, so that the tracer particles float on the surface of the water flow and follow Good sex, not easy to run aground, not easy to gather.
作为优选，所述数字图像处理软件包括图像采集模块、与图像采集模块连接的彩色图像分割模块、与彩色图像分割模块连接的粒子标记模块、与粒子标记模块连接的粒子匹配模块以及与粒子匹配模块相连的流场显示模块，本软件处理流程为：首先通过图像采集模块采集3帧彩色粒子图像，然后通过彩色图像分割模块将红、绿、蓝三种颜色的示踪粒子的图像从背景图像中提取出来，粒子标记模块采用区域标记的方法标出每帧图像中各个粒子的中心位置，粒子匹配模块将各帧图像中的相同粒子进行匹配后计算出流速矢量，最后由流场显示模块进行全场显示。 Preferably, the digital image processing software includes an image acquisition module, a color image segmentation module connected to the image acquisition module, a particle marking module connected to the color image segmentation module, a particle matching module connected to the particle marking module, and a particle matching module The connected flow field display module, the processing flow of this software is as follows: first, collect 3 frames of color particle images through the image acquisition module, and then use the color image segmentation module to separate the images of tracer particles in red, green and blue colors from the background image Extracted, the particle marking module uses the method of area marking to mark the center position of each particle in each frame of image, the particle matching module matches the same particles in each frame of image to calculate the flow velocity vector, and finally the flow field display module conducts a full field display.
一种水流中彩色粒子图像流场测速方法，所述测量步骤如下： A method for measuring flow field velocity by color particle image in water flow, the measurement steps are as follows:
（1）在水流中均匀布撒红、绿、蓝的示踪粒子，漂浮在水流表面； (1) Evenly distribute red, green and blue tracer particles in the water flow, floating on the surface of the water flow;
（2）用彩色网络摄像头拍摄示踪粒子的运动图像； (2) Take moving images of tracer particles with a color webcam;
（3）图像由数字图像处理装置采集并处理，通过数字图像处理的方法测量表面流场，数字图像处理的方法包括以下步骤： (3) The image is collected and processed by a digital image processing device, and the surface flow field is measured by a digital image processing method. The digital image processing method includes the following steps:
（3.1）通过阈值分割的方法提取出每帧图像中的示踪粒子图像，记录每帧图像中的示踪粒子像素中心位置：红色粒子三通道灰度值(R,G,B)为(255,0,0)，绿色粒子三通道灰度值(R,G,B)为(0,255,0)，蓝色粒子三通道灰度值(R,G,B)为(0,0, 255)，通过设定三通道阈值分别为Tr、Tg、Tb，且各通道阈值取值范围为0-255,进行颜色分割，然后进行区域标记，提取各颜色粒子像素中心位置； (3.1) Extract the tracer particle image in each frame image by threshold segmentation method, and record the center position of the tracer particle pixel in each frame image: the three-channel gray value (R, G, B) of the red particle is (255 ,0,0), the green particle three-channel gray value (R, G, B) is (0,255,0), the blue particle three-channel gray value (R, G, B) is (0,0, 255) , by setting the thresholds of the three channels as Tr, Tg, and Tb respectively, and the range of the thresholds of each channel is 0-255, perform color segmentation, and then perform region marking to extract the pixel center position of each color particle;
（3.2） 综合考虑单个粒子的连续性运动特征及粒子运动的群体性位置和颜色分布特征，对各帧粒子图像进行匹配：针对第一帧图像中的每个示踪粒子，在第二帧图像中设定搜索半径，在搜索范围内颜色与之相同的作为候选匹配粒子，然后在第三帧图像中搜索范围内，搜索相同颜色的粒子并计算帧间粒子运动矢量差，取最小值作为正确匹配； (3.2) Considering the continuous motion characteristics of a single particle and the group position and color distribution characteristics of particle motion, match the particle images of each frame: for each tracer particle in the first frame image, in the second frame image Set the search radius in , and use the same color as the candidate matching particle in the search range, and then search for the particles with the same color in the search range of the third frame image and calculate the particle motion vector difference between frames, and take the minimum value as the correct one. match;
（3.3） 通过标定，将图像坐标换算为实际坐标，将粒子运动距离除以时间得到流速：V=△d/△t，其中△d为匹配粒子在相邻两帧图像中的运动矢量，△t为相邻两帧间的时间间隔； (3.3) Through calibration, the image coordinates are converted into actual coordinates, and the particle movement distance is divided by time to obtain the flow velocity: V=△d/△t, where △d is the motion vector of the matching particle in two adjacent frames of images, △ t is the time interval between two adjacent frames;
（3.4） 将各个粒子的坐标及流速进行全场显示。 (3.4) Display the coordinates and flow velocity of each particle in the whole field.
有益效果：本发明提供的彩色粒子图像测速系统相对于现有技术而言，克服了黑白摄像头对光照条件要求较高，容易受光照噪声的影响，流场数据错误矢量较多，从而影响其测量精度；本发明对光照条件要求较低、而且增加彩色信息有效提高粒子识别与匹配准确率，并且结构简单，易于搭建，有利于大规模推广使用。 Beneficial effects: Compared with the prior art, the colored particle image velocity measurement system provided by the present invention overcomes the requirement that the black and white camera has higher requirements on lighting conditions, is easily affected by lighting noise, and has many error vectors in the flow field data, thus affecting its measurement. Accuracy: The invention has lower requirements on lighting conditions, and the addition of color information can effectively improve the accuracy of particle identification and matching, and the structure is simple and easy to build, which is conducive to large-scale popularization and use.
本发明提供的彩色粒子图像流场测速方法，可以显著提高流场测量准确率和效率，从而促进水流研究水平提升，为防洪抗旱、保护环境等提供技术支撑。 The color particle image flow field velocity measurement method provided by the present invention can significantly improve the accuracy and efficiency of flow field measurement, thereby promoting the improvement of water flow research level, and providing technical support for flood control and drought relief, environmental protection, etc.
附图说明 Description of drawings
图1为本发明的彩色粒子图像测速系统示意图； Fig. 1 is a schematic diagram of the color particle image velocity measurement system of the present invention;
图2为流场显示示意图。 Figure 2 is a schematic diagram showing the flow field.
具体实施方式 Detailed ways
下面结合附图对本发明作更进一步的说明。 The present invention will be further described below in conjunction with the accompanying drawings.
如图1所示，一种水流中彩色粒子图像测速系统，包括河工模型1、彩色示踪粒子即红色示踪粒子2、绿色示踪粒子3、蓝色示踪粒子4、彩色网络摄像头5、ＰＯＥ交换机6和数字图像处理装置7；所述彩色示踪粒子均匀分布在河工模型1的水流中，所述彩色网络摄像头5安装在河工模型1的水流表面上方，所述网络摄像头5与ＰＯＥ交换机6连接，所述ＰＯＥ交换机6与数字图像处理装置相7连接。所述彩色示踪粒子呈椭圆形状，所述示踪粒子的长轴宽度是示踪粒子短轴宽度的2~4倍。所述彩色示踪粒子分为红色、绿色和蓝色，所述示踪粒子采用PP材料与天然石膏调制而成，彩色示踪粒子的密度不超过水的密度，特别是接近或者略小于水的密度。所述数字图像装置7包括电脑和数字图像处理软件，所述数字图像处理软件包括图像采集模块、与图像采集模块连接的彩色图像分割模块、与彩色图像分割模块连接的粒子标记模块、与粒子标记模块连接的粒子匹配模块以及与粒子匹配模块相连的流场显示模块。 As shown in Figure 1, a color particle image velocity measurement system in water flow includes a river engineering model 1, colored tracer particles, namely red tracer particles 2, green tracer particles 3, blue tracer particles 4, color network camera 5, POE switch 6 and digital image processing device 7; the color tracer particles are uniformly distributed in the water flow of the river engineering model 1, the color network camera 5 is installed above the water flow surface of the river engineering model 1, and the network camera 5 and the POE switch 6, and the POE switch 6 is connected to the digital image processing device 7. The colored tracer particles are in the shape of an ellipse, and the width of the long axis of the tracer particles is 2 to 4 times the width of the short axis of the tracer particles. The colored tracer particles are divided into red, green and blue, and the tracer particles are made of PP material and natural gypsum. The density of the colored tracer particles does not exceed the density of water, especially close to or slightly smaller than that of water. density. The digital image device 7 includes a computer and digital image processing software, and the digital image processing software includes an image acquisition module, a color image segmentation module connected with the image acquisition module, a particle labeling module connected with the color image segmentation module, and a particle labeling module connected with the image acquisition module. The particle matching module connected with the module and the flow field display module connected with the particle matching module.
河工模型1是根据天然河流按照一定比尺缩小而成的实体模型，是在河流海岸中航道整治、河流治理等关键问题中，用以模拟河道水流泥沙运动及河床演变情况的一种重要研究手段。 River engineering model 1 is a physical model based on the reduction of natural rivers to a certain scale. It is an important research for simulating the movement of river water and sediment and the evolution of river beds in key issues such as river channel regulation and river governance. means.
本发明中，彩色网络摄像头5拍摄彩色粒子的运动图像，POE交换机6用于给彩色网络摄像头5供电及向数字图像处理装置7传输数字图像，数字图像处理装置7对图像处理后显示流场。 In the present invention, the color network camera 5 shoots moving images of colored particles, the POE switch 6 is used to supply power to the color network camera 5 and transmit digital images to the digital image processing device 7, and the digital image processing device 7 displays the flow field after image processing.
一种水流中彩色粒子图像流场测速方法，所述测量步骤如下： A method for measuring flow field velocity by color particle image in water flow, the measurement steps are as follows:
（1）在水流中均匀布撒红、绿、蓝的示踪粒子，漂浮在水流表面； (1) Evenly distribute red, green and blue tracer particles in the water flow, floating on the surface of the water flow;
（2）用彩色网络摄像头拍摄示踪粒子的运动图像； (2) Take moving images of tracer particles with a color webcam;
（3）图像由数字图像处理装置采集并处理，通过数字图像处理的方法测量表面流场，数字图像处理的方法包括以下步骤： (3) The image is collected and processed by a digital image processing device, and the surface flow field is measured by a digital image processing method. The digital image processing method includes the following steps:
（3.1）通过阈值分割的方法提取出每帧图像中的示踪粒子图像，记录每帧图像中的示踪粒子像素中心位置：红色粒子三通道灰度值(R,G,B)为(255,0,0)，绿色粒子三通道灰度值(R,G,B)为(0,255,0)，蓝色粒子三通道灰度值(R,G,B)为(0,0, 255)，通过设定三通道阈值分别为Tr、Tg、Tb，且各通道阈值取值范围为0-255,进行颜色分割，然后进行区域标记，提取各颜色粒子像素中心位置； (3.1) Extract the tracer particle image in each frame image by threshold segmentation method, and record the center position of the tracer particle pixel in each frame image: the three-channel gray value (R, G, B) of the red particle is (255 ,0,0), the green particle three-channel gray value (R, G, B) is (0,255,0), the blue particle three-channel gray value (R, G, B) is (0,0, 255) , by setting the thresholds of the three channels as Tr, Tg, and Tb respectively, and the range of the thresholds of each channel is 0-255, perform color segmentation, and then perform region marking to extract the pixel center position of each color particle;
（3.2） 综合考虑单个粒子的连续性运动特征及粒子运动的群体性位置和颜色分布特征，对各帧粒子图像进行匹配：针对第一帧图像中的每个示踪粒子，在第二帧图像中设定搜索半径，在搜索范围内颜色与之相同的作为候选匹配粒子，然后在第三帧图像中搜索范围内，搜索相同颜色的粒子并计算帧间粒子运动矢量差，取最小值作为正确匹配； (3.2) Considering the continuous motion characteristics of a single particle and the group position and color distribution characteristics of particle motion, match the particle images of each frame: for each tracer particle in the first frame image, in the second frame image Set the search radius in , and use the same color as the candidate matching particle in the search range, and then search for the particles with the same color in the search range of the third frame image and calculate the particle motion vector difference between frames, and take the minimum value as the correct one. match;
（3.3） 通过标定，将图像坐标换算为实际坐标，将粒子运动距离除以时间得到流速：V=△d/△t，其中△d为匹配粒子在相邻两帧图像中的运动矢量，△t为相邻两帧间的时间间隔； (3.3) Through calibration, the image coordinates are converted into actual coordinates, and the particle movement distance is divided by time to obtain the flow velocity: V=△d/△t, where △d is the motion vector of the matching particle in two adjacent frames of images, △ t is the time interval between two adjacent frames;
（3.4）将各个粒子的坐标及流速进行全场显示。 (3.4) Display the coordinates and flow velocity of each particle in the whole field.
图2所示为流场显示图，流速矢量8为标识流速坐标、大小及方向。 FIG. 2 is a display diagram of the flow field, and the flow velocity vector 8 indicates the coordinates, magnitude and direction of the flow velocity.
以上所述仅是本发明的优选实施方式，应当指出：对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。 The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications are also possible. It should be regarded as the protection scope of the present invention.
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