WO2018161717A1 - Rotation speed measuring device and method employing two sinusoidal variable density fringes - Google Patents
Rotation speed measuring device and method employing two sinusoidal variable density fringes Download PDFInfo
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- WO2018161717A1 WO2018161717A1 PCT/CN2018/071823 CN2018071823W WO2018161717A1 WO 2018161717 A1 WO2018161717 A1 WO 2018161717A1 CN 2018071823 W CN2018071823 W CN 2018071823W WO 2018161717 A1 WO2018161717 A1 WO 2018161717A1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
- G01P3/38—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light using photographic means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
Definitions
- the invention relates to the field of machine vision measuring rotation technology, in particular to a rotating shaft angle sensing and rotating speed measuring device and method based on double sinusoidal variable density striping.
- the fast, continuous and accurate measurement of the instantaneous rotation angle and speed of the rotating shaft plays an important role and significance for the condition monitoring, fault diagnosis and speed control of the rotating machinery.
- Such as the rotational speed measurement of the rotating shaft of the rotating equipment such as generators, pumps and motors; the state of such rotating equipment can be obtained by measuring the rotational parameters of the rotating shaft and can be used for condition monitoring and fault diagnosis of the machine.
- the rotational speed measurement technology can be roughly divided into two categories: an analog tachometer and a digital tachometer.
- the analog tachometer mainly converts the speed information into an analog signal or other types of signals.
- the analog tachometer is often used in the feedback loop to precisely control the speed.
- Digital tachometers generally do not require a digital to analog converter with respect to analog tachometers.
- This type of tachometer mainly measures the rotational speed through encoders with different physical principles, such as optical encoders, magnetic field encoders, electromagnetic encoders and Hall encoders.
- the choice of encoder is mainly selected by the specific use occasions and measurement accuracy requirements.
- a wide range of image acquisition not only burdens the acquisition system, but also imposes high requirements on the transmission rate of image signals.
- a unique double sinusoidal variable density stripe is designed to achieve accurate, simple and efficient non-contact measurement of the rotation angle and rotation speed. Real-time measurement of shaft angle and speed is achieved without increasing the hardware cost of the machine vision based measurement system.
- a rotation speed measuring device based on double sinusoidal variable density stripe comprising:
- a stripe image acquisition and transmission module for continuously collecting and recording the double sinusoidal variable density stripe sensor on the surface of the shaft to be tested, and transmitting the collected stripe image signal;
- the stripe image acquisition and transmission module includes stripes Imaging sensor, optical lens, imaging control system, and transmission system;
- a computer for controlling the stripe image acquisition and transmission module and storing and processing the stripe image signal transmitted to the computer via the transmission system;
- a stripe image processing software module is disposed in the computer for processing the stripe image signal to calculate a time domain rotation angle and a speed curve of the rotating shaft.
- the double sinusoidal variable density stripe sensor is a lightweight patch, and the front surface of the double sinusoidal variable density stripe sensor lightweight patch is a stripe image, and the back surface is an adhesive layer attached to the circumferential surface of the rotating shaft to be tested.
- the double sinusoidal variable density stripe sensor is a lightweight circular sleeve, and the outer circumferential surface of the double sinusoidal variable density stripe sensor sleeve is a stripe image, and the inner diameter of the sleeve is equal to the diameter of the shaft to be tested, and the sleeve is sleeved It is disposed on the rotating shaft to be tested.
- the double sinusoidal variable density stripe sensor has a rectangular shape, and a width direction of the rectangle is a stripe density change direction of a surface stripe image of the double sinusoidal variable density stripe sensor, and the width is equal to a circumference of the measured rotating shaft.
- the stripe image of the surface of the double sinusoidal variable density stripe sensor is divided into left and right stripe along the length direction of the rectangle, and the stripe density of the left and right stripe varies according to a sinusoidal function in the width direction, and the density variation curve of the right side stripe is relatively
- the phase of the stripe density curve on the left side lags by ⁇ /2.
- the combination of the stripe density on the left and right sides of the double sinusoidal variable density stripe sensor coated on the surface of the rotating shaft is in one-to-one correspondence with the different angles of the 0-360 degree rotation angle of the rotating shaft, and the rotation angle information of the rotating shaft is obtained by calculating the stripe density on the left and right sides.
- the acquisition frame rate of the stripe image acquisition module and the imaging sensor acquisition pixel range can be adjusted.
- the stripe image acquisition module is placed in the center of the length direction of the double sinusoidal variable density stripe sensor coated on the shaft to be tested and perpendicular to the axis of the shaft.
- the front side is such that the double sinusoidal variable density stripe sensor can be clearly imaged at an intermediate position of the imaging sensor of the stripe image acquisition module.
- the stripe imaging sensor is an area array imaging sensor or a line array imaging sensor.
- the invention is achieved by the following method, the method comprising the steps of:
- Step S1 calculating the circumference of the rotating shaft according to the diameter of the rotating shaft to be tested, and designing the width of the double sinusoidal variable density stripe sensor according to the circumference of the rotating shaft, the width is equal to the circumference of the rotating shaft, and the stripe is printed;
- Step S2 coating a double sinusoidal variable density stripe sensor on the surface of the shaft to be tested; adjusting the imaging position of the stripe image acquisition module and adjusting the imaging focal length of the optical lens, so that the double sinusoidal variable density stripe sensor is imaged in the stripe image acquisition module The middle position of the sensor;
- Step S3 real-time acquisition and recording of the double sinusoidal variable density stripe sensor by using the stripe image acquisition module, because the position of the imaging sensor and the rotating shaft is fixed, and the density of the imaging stripe also changes with the rotation angle of the rotating shaft;
- Step S4 the stripe image transmission module transmits the collected stripe image sequence to the computer in real time, and then uses the image processing software module to perform stripe signal processing;
- Step S5 the image processing software module calculates stripe density information of the left and right stripe signals of the same row of pixels in each frame image; and obtains a time domain curve of the rotational angular velocity and the rotational speed of the rotating shaft by a mathematical relationship between the corner and the left and right stripe density;
- Step S6 displaying the measured rotation angle and the rotation time domain curve through the computer display screen, and further processing and analyzing the obtained time domain curve through the signal analysis program to realize the state monitoring of the machine.
- d max and d min sinusoidal variations for the design of the dual minimum and maximum fringe density sensor stripes density
- d is the left double sinusoidal fringe left sensor a variable density curve fringe density
- d is a double right-sinusoidal fringe density sensor becomes a right Side strip density variation curve
- N is the total number of points of the stripe density change curve on the left and right sides of the double sinusoidal variable density stripe sensor
- n is the nth point in the total number of points N ;
- the left and right normalized fringe density d 1 ( i ) of the double sinusoidal variable density fringe sensor acquired at the i-th frame fringe image is calculated as:
- the sinusoidal phase angle corresponding to the left and right normalized fringe densities of the double sinusoidal variable density fringe sensor collected at the time of the ith frame fringe image is:
- phase 1 is the i-th frame fringe image acquisition time to said sinusoidal phase angle becomes double sinusoidal fringe density sensor corresponding to the left fringe density
- phase 2 of the i-th frame fringe image acquisition time to the sinusoidal variations bis The sinusoidal phase angle corresponding to the density of the stripe on the right side of the density stripe sensor
- the rotation axis angle ⁇ i corresponding to the left and right side stripe sinusoidal phase angles of the double sinusoidal variable density stripe sensor acquired at the i-th frame fringe image moment is calculated as:
- F s is the sampling frequency corresponding to the stripe image acquisition module
- ⁇ t is the reciprocal of the sampling frequency of the stripe image acquisition module
- the quality of the double sinusoidal variable density stripe is almost negligible, and the sticking to the rotating shaft does not cause any interference to the dynamic characteristics of the rotating shaft, and has the possibility of reducing the interference to the system with respect to some mechanical tachometers.
- the measurement accuracy will be limited by the number of disc divisions, resulting in a fixed error.
- the stripe-type rotational speed measurement encoder stripe density variation is continuous, as long as the stripe density acquisition algorithm is sufficiently accurate, a very small angle measurement can be achieved, which eliminates the hardware error of the corner measurement such as the coded disc.
- Non-contact speed measurement can be realized.
- the sampling data can be greatly reduced and the transmission frame rate can be improved.
- the existing corner measurement method based on the image tracking matching algorithm needs to collect the entire encoded fringe image information, so as to perform tracking matching of the local feature signals, which increases the burden on the collection system and causes waste of hardware resources.
- the invention utilizes the stripe density information of the double sinusoidal variable density stripe to encode the rotation axis angle, and at least only needs to collect the stripe information of one row of pixels to realize the rotation speed measurement of the rotating shaft, greatly improve the image transmission rate, reduce the storage space of the image and calculate time.
- FIG. 1 is a schematic structural view of a device according to an embodiment of the present invention.
- FIG. 2 is a plan view of a double sinusoidal variable density stripe in an embodiment of the present invention.
- FIG. 3(a) is a stripe density variation curve of sinusoidal variable density stripe on both sides of a double sinusoidal variable density stripe in the embodiment of the present invention
- FIG. 3(b) is a sine transform on the left and right sides of the double sinusoidal variable density stripe in the embodiment of the present invention.
- FIG. 4(a) is a phase angle curve obtained from a normalized density variation curve of sinusoidal variable density stripe on both sides of a double sinusoidal variable density stripe in the embodiment of the present invention
- FIG. 4(b) is a double sine in the embodiment of the present invention.
- FIG. 1 is a schematic structural view of an apparatus according to an embodiment of the present invention.
- the embodiment provides a rotation angle and rotation speed measuring device based on double sinusoidal variable density stripe, including a double sine variable density stripe sensor 4, a stripe image acquisition module 6, a data transmission line 2, a computer 1, and a measured rotation shaft. 3 and bearing housing 5.
- a double sinusoidal variable density stripe sensor 4 is wrapped around the circumferential surface of the measured rotating shaft 3 for encoding the rotational angle information of the measured rotating shaft 3.
- the stripe image acquisition module 6 is configured to perform real-time acquisition and recording on the double sinusoidal variable density stripe sensor 4 on the measured rotating shaft 3, and transmit the collected stripe image to the computer 1 through the data line 2.
- the image processing software module installed in the computer 1 calculates the stripe density information of the left and right side stripes of the double sinusoidal variable density stripe in each frame image; then calculates the corner corresponding to the rotating shaft by the density information of the left and right side strips, and finally The instantaneous rotational angular velocity and rotational speed of the rotating shaft are calculated by the image angle difference between the adjacent two frames and the sampling time interval. Finally, the measured corner and speed time domain curves are displayed on the display of the computer 1 for further data processing and analysis.
- the shape of the double sinusoidal variable density stripe sensor 4 is a rectangle, and the width of the double sinusoidal variable density stripe sensor 4 in the direction in which the stripe density changes is equal to the circumference of the measured rotating shaft 3.
- the fringe image on the surface of the double sinusoidal variable density stripe sensor 4 is divided into left and right stripe stripes, and the stripe density of the strips on the left and right sides are changed according to a sinusoidal function.
- the density variation curve of the right side stripe is phase-lag with respect to the stripe density curve of the left side. 2.
- the double sinusoidal variable density stripe sensor 4 is looped on the circumferential surface of the rotating shaft 3 in the direction of the change of the stripe density to encode the rotation angle of the measured rotating shaft.
- the stripe density combination of the left and right sides of the double sinusoidal variable density stripe sensor 4 is in one-to-one correspondence with the different angles of the 0-360 degree angle of the measured rotating shaft, and the rotation angle information of the shaft is obtained by calculating the stripe density on the left and right sides.
- FIG. 2 is a schematic diagram of a double sinusoidal variable density stripe sensor 4 for measuring rotational axis rotation parameters in an embodiment of the present invention.
- different stripe-shaped sensors can be designed according to the characteristics of the structure, such as a shaft sleeve or a code disc in the form of a stripe, or a stripe on the rotating shaft, etc., all of which are not listed in this patent.
- Different stripe forms or pasted forms, but measurements made based on the method of the invention are within the scope of the invention.
- FIG. 3(a) is a stripe density variation curve of the left and right sinusoidal variable density stripe sensor 4 of the double sinusoidal variable density stripe sensor 4 in the embodiment of the present invention
- FIG. 3(b) is a double sinusoidal variable density stripe sensor according to an embodiment of the present invention
- FIG. 4(a) is a phase angle curve obtained by normalized density variation curves of sinusoidal variable density strips on the left and right sides of the double sinusoidal variable density stripe sensor 4 in the embodiment of the present invention
- FIG. 4(b) is in the embodiment of the present invention.
- the obtained corner information is exactly one-to-one corresponding to the angle information of one revolution of the rotating shaft.
- the embodiment also provides a method for measuring the rotational speed of the rotating shaft using the above device, as shown in FIGS. 1, 2, 3 and 4, comprising the following steps:
- Step S1 calculating the circumference of the rotating shaft according to the diameter of the rotating shaft to be tested, and designing the width of the double sinusoidal variable density stripe sensor according to the circumference of the rotating shaft, the width is equal to the circumference of the rotating shaft, and the stripe is printed;
- Step S2 coating a double sinusoidal variable density stripe sensor on the surface of the shaft to be tested; adjusting the imaging position of the stripe image acquisition module and adjusting the imaging focal length of the optical lens, so that the double sinusoidal variable density stripe sensor is imaged in the stripe image acquisition module The middle position of the sensor;
- Step S3 real-time acquisition and recording of the double sinusoidal variable density stripe sensor by using the stripe image acquisition module, because the position of the imaging sensor and the rotating shaft is fixed, and the density of the imaging stripe also changes with the rotation angle of the rotating shaft;
- Step S4 the stripe image transmission module transmits the collected stripe image sequence to the computer in real time, and then uses the image processing software module to perform stripe signal processing;
- Step S5 the image processing software module calculates stripe density information of the left and right stripe signals of the same row of pixels in each frame image; and obtains a time domain curve of the rotational angular velocity and the rotational speed of the rotating shaft by a mathematical relationship between the corner and the left and right stripe density;
- Step S6 displaying the measured rotation angle and the rotation time domain curve through the computer display screen, and further processing and analyzing the obtained time domain curve through the signal analysis program to realize the state monitoring of the machine.
- d max and d min sinusoidal variations for the design of the dual minimum and maximum fringe density sensor stripes density
- d is the left double sinusoidal fringe left sensor a variable density curve fringe density
- d is a double right-sinusoidal fringe density sensor becomes a right Side strip density variation curve
- N is the total number of points of the stripe density change curve on the left and right sides of the double sinusoidal variable density stripe sensor
- n is the nth point in the total number of points N ;
- the sinusoidal phase angle corresponding to the left and right normalized fringe densities of the double sinusoidal variable density fringe sensor collected at the time of the ith frame fringe image is:
- phase 1 is the i-th frame fringe image acquisition time to said sinusoidal phase angle becomes double sinusoidal fringe density sensor corresponding to the left fringe density
- phase 2 of the i-th frame fringe image acquisition time to the sinusoidal variations bis The sinusoidal phase angle corresponding to the density of the stripe on the right side of the density stripe sensor
- the rotation axis angle ⁇ i corresponding to the left and right side stripe sinusoidal phase angles of the double sinusoidal variable density stripe sensor acquired at the i-th frame fringe image moment is calculated as:
- F s is the sampling frequency corresponding to the stripe image acquisition module
- ⁇ t is the reciprocal of the sampling frequency of the stripe image acquisition module
Abstract
A rotation speed measuring device and method employing two sinusoidal variable density fringes, the device comprising: a two-sinusoidal variable density fringe sensor (4), a fringe image collection module, a fringe image transmission module, a fringe image processing software module, and a computer (1). The method comprises the following steps: covering a circumferential surface of a tested shaft (3) with the two-sinusoidal variable density fringe sensor (4); the fringe image collection module (6) performing real-time collection and recording of the two sinusoidal variable density fringes; the image transmission module transmitting a collected image of the two sinusoidal variable density fringes to the computer (1); and the image processing software module computing fringe density information of a left side fringe and a right side fringe of the two sinusoidal variable density fringes in each image, then computing a rotation angle corresponding to the shaft by means of density information of the left side fringe and the right side fringe, and finally computing the instantaneous rotation angular speed and the rotation speed of the shaft by means of a rotation angle difference and a sampling time interval between two consecutive images. The device and the method can be used to measure the absolute rotation angle of a shaft and can implement non-contact measurement of the rotation angle and the instantaneous rotation speed of a shaft. The measuring device is simple, quickly performs measurement, and has high accuracy.
Description
本发明涉及机器视觉测量转动技术领域，特别是涉及一种基于双正弦变密度条纹的转轴转角传感和转速测量装置及方法。The invention relates to the field of machine vision measuring rotation technology, in particular to a rotating shaft angle sensing and rotating speed measuring device and method based on double sinusoidal variable density striping.
对转轴瞬时转角和转速的快速、连续和准确地测量对于旋转机械的状态监测、故障诊断和速度控制具有非常重要的作用和意义。如发电机、泵和电机等转动设备的转轴的转速测量；这类转动设备的状态可以通过测量的转轴的转动参数获得并可用于机器的状态监测和故障诊断。目前转速测量技术大体可分为两类：模拟式转速计和数字式转速计。模拟式转速计主要是将转速信息转换成为模拟信号或者其他类型对应比例的信号，模拟式转速计常应用于反馈回路中以精确控制转速。而数字式转速计相对于模拟式转速计一般不需要数模转化器。该类转速测量计主要通过不同的物理原理的编码器实现转速的测量，如光学编码器、磁场编码器、电磁编码器和霍尔编码器等。编码器的选择主要通过具体使用场合和测量精度要求来进行选择。The fast, continuous and accurate measurement of the instantaneous rotation angle and speed of the rotating shaft plays an important role and significance for the condition monitoring, fault diagnosis and speed control of the rotating machinery. Such as the rotational speed measurement of the rotating shaft of the rotating equipment such as generators, pumps and motors; the state of such rotating equipment can be obtained by measuring the rotational parameters of the rotating shaft and can be used for condition monitoring and fault diagnosis of the machine. At present, the rotational speed measurement technology can be roughly divided into two categories: an analog tachometer and a digital tachometer. The analog tachometer mainly converts the speed information into an analog signal or other types of signals. The analog tachometer is often used in the feedback loop to precisely control the speed. Digital tachometers generally do not require a digital to analog converter with respect to analog tachometers. This type of tachometer mainly measures the rotational speed through encoders with different physical principles, such as optical encoders, magnetic field encoders, electromagnetic encoders and Hall encoders. The choice of encoder is mainly selected by the specific use occasions and measurement accuracy requirements.
近年来，随着图像传感器制造技术的进步，基于机器视觉的振动和转速测量技术也快速发展。这种技术具有高效率、非接触，并且不引入附加质量的特点。许多研究学者采用一些高对比度的黑白图案或者编码图形来标记一些大的结构，然后采用图像传感器进行实时成像，以实现对一些大结构的转角测量。这些方法主要是通过不同图像帧模板图像的特征匹配和跟踪算法来获得结构的转角信息，测量速度和精度很大程度上取决于图像匹配算法的速度和准确度。而且在进行图像采集时需要将测量对象整个测量面内的图像信息进行采集，才能进行局部特征信号的跟踪匹配。In recent years, with the advancement of image sensor manufacturing technology, vibration and rotational speed measurement technology based on machine vision has also developed rapidly. This technology is highly efficient, non-contact, and does not introduce additional quality features. Many researchers have used some high-contrast black-and-white patterns or coded patterns to mark some large structures, and then use image sensors for real-time imaging to achieve corner measurements on some large structures. These methods mainly obtain the corner information of the structure through the feature matching and tracking algorithms of different image frame template images. The measurement speed and accuracy largely depend on the speed and accuracy of the image matching algorithm. Moreover, in image acquisition, the image information in the entire measurement surface of the measurement object needs to be collected, so that the local feature signal can be tracked and matched.
大范围的图像采集不仅会使得采集系统负担加重，而且对图像信号的传输速率也提出了比较高的要求。A wide range of image acquisition not only burdens the acquisition system, but also imposes high requirements on the transmission rate of image signals.
因此，在对现有转速测量方法进行了解和研究的基础上，设计出一种独特的双正弦变密度条纹以实现对转轴转角和转速精确、简单和高效的非接触式测量，该种方法可以在不增加基于机器视觉的测量系统硬件成本的情况下实现转轴转角和转速的实时测量。Therefore, based on the understanding and research of the existing rotational speed measurement method, a unique double sinusoidal variable density stripe is designed to achieve accurate, simple and efficient non-contact measurement of the rotation angle and rotation speed. Real-time measurement of shaft angle and speed is achieved without increasing the hardware cost of the machine vision based measurement system.
一种基于双正弦变密度条纹的转速测量装置，包括：A rotation speed measuring device based on double sinusoidal variable density stripe, comprising:
一双正弦变密度条纹传感器，包覆于待测转轴圆周表面，用以编码所述待测转轴的转角信息；a pair of sinusoidal variable density stripe sensors coated on the circumferential surface of the shaft to be tested for encoding the rotation angle information of the shaft to be tested;
一条纹图像采集和传输模块，用以对所述待测转轴表面的双正弦变密度条纹传感器进行连续采集记录，并将采集到的条纹图像信号进行传输；所述条纹图像采集和传输模块包括条纹成像传感器、光学镜头、成像控制系统和传输系统；a stripe image acquisition and transmission module for continuously collecting and recording the double sinusoidal variable density stripe sensor on the surface of the shaft to be tested, and transmitting the collected stripe image signal; the stripe image acquisition and transmission module includes stripes Imaging sensor, optical lens, imaging control system, and transmission system;
一计算机，用以对所述条纹图像采集和传输模块进行控制，并对经传输系统传输到计算机的条纹图像信号进行存储和处理；a computer for controlling the stripe image acquisition and transmission module and storing and processing the stripe image signal transmitted to the computer via the transmission system;
一条纹图像处理软件模块，设置于所述计算机中，用以对所述的条纹图像信号进行处理，计算转轴的时域转角和转速曲线。A stripe image processing software module is disposed in the computer for processing the stripe image signal to calculate a time domain rotation angle and a speed curve of the rotating shaft.
所述双正弦变密度条纹传感器为轻质贴片，所述双正弦变密度条纹传感器轻质贴片的正面为条纹图像，背面为粘性层，环贴于所述待测转轴的圆周表面。The double sinusoidal variable density stripe sensor is a lightweight patch, and the front surface of the double sinusoidal variable density stripe sensor lightweight patch is a stripe image, and the back surface is an adhesive layer attached to the circumferential surface of the rotating shaft to be tested.
所述双正弦变密度条纹传感器为轻质圆形套筒，所述双正弦变密度条纹传感器套筒的外圆周表面为条纹图像，套筒内径与所述待测转轴的直径相等，套筒套设于所述待测转轴上。The double sinusoidal variable density stripe sensor is a lightweight circular sleeve, and the outer circumferential surface of the double sinusoidal variable density stripe sensor sleeve is a stripe image, and the inner diameter of the sleeve is equal to the diameter of the shaft to be tested, and the sleeve is sleeved It is disposed on the rotating shaft to be tested.
所述双正弦变密度条纹传感器的形状为长方形，所述长方形的宽度方向为所述双正弦变密度条纹传感器表面条纹图像的条纹密度变化方向，所述宽度与所测转轴的周长相等。The double sinusoidal variable density stripe sensor has a rectangular shape, and a width direction of the rectangle is a stripe density change direction of a surface stripe image of the double sinusoidal variable density stripe sensor, and the width is equal to a circumference of the measured rotating shaft.
所述双正弦变密度条纹传感器表面的条纹图像沿所述长方形的长度方向分为左右两侧条纹，左右两侧条纹的条纹密度沿宽度方向都按正弦函数变化，右侧条纹的密度变化曲线相对于左侧条纹密度变化曲线相位滞后π/2。The stripe image of the surface of the double sinusoidal variable density stripe sensor is divided into left and right stripe along the length direction of the rectangle, and the stripe density of the left and right stripe varies according to a sinusoidal function in the width direction, and the density variation curve of the right side stripe is relatively The phase of the stripe density curve on the left side lags by π/2.
包覆于转轴表面的所述双正弦变密度条纹传感器的左右两侧的条纹密度组合与转轴0-360度转角的不同角度一一对应，通过计算左右两侧条纹密度获得转轴转角信息。The combination of the stripe density on the left and right sides of the double sinusoidal variable density stripe sensor coated on the surface of the rotating shaft is in one-to-one correspondence with the different angles of the 0-360 degree rotation angle of the rotating shaft, and the rotation angle information of the rotating shaft is obtained by calculating the stripe density on the left and right sides.
条纹图像采集模块的采集帧率和成像传感器采集像素范围能够调节，条纹图像采集模块放置于包覆在待测转轴上的双正弦变密度条纹传感器的长度方向的中央且与转轴轴心垂直的正前方，以使所述双正弦变密度条纹传感器能够清晰成像于所述条纹图像采集模块的成像传感器中间位置。The acquisition frame rate of the stripe image acquisition module and the imaging sensor acquisition pixel range can be adjusted. The stripe image acquisition module is placed in the center of the length direction of the double sinusoidal variable density stripe sensor coated on the shaft to be tested and perpendicular to the axis of the shaft. The front side is such that the double sinusoidal variable density stripe sensor can be clearly imaged at an intermediate position of the imaging sensor of the stripe image acquisition module.
所述条纹成像传感器为面阵成像传感器或线阵成像传感器。The stripe imaging sensor is an area array imaging sensor or a line array imaging sensor.
本发明通过以下方法实现，该方法包括以下步骤：The invention is achieved by the following method, the method comprising the steps of:
步骤S1：根据所述待测转轴的直径计算出转轴的周长，根据转轴的周长设计好双正弦变密度条纹传感器的宽度，所述宽度等于转轴的周长，并打印好条纹；Step S1: calculating the circumference of the rotating shaft according to the diameter of the rotating shaft to be tested, and designing the width of the double sinusoidal variable density stripe sensor according to the circumference of the rotating shaft, the width is equal to the circumference of the rotating shaft, and the stripe is printed;
步骤S2：在待测转轴表面包覆双正弦变密度条纹传感器；调整好条纹图像采集模块的成像位置并调整好光学镜头的成像焦距，使双正弦变密度条纹传感器成像于条纹图像采集模块中成像传感器的中间位置；Step S2: coating a double sinusoidal variable density stripe sensor on the surface of the shaft to be tested; adjusting the imaging position of the stripe image acquisition module and adjusting the imaging focal length of the optical lens, so that the double sinusoidal variable density stripe sensor is imaged in the stripe image acquisition module The middle position of the sensor;
步骤S3：采用条纹图像采集模块对双正弦变密度条纹传感器进行实时采集记录，因成像传感器和转轴的位置是固定的，成像条纹的密度也随着转轴转动角度的变化而变化；Step S3: real-time acquisition and recording of the double sinusoidal variable density stripe sensor by using the stripe image acquisition module, because the position of the imaging sensor and the rotating shaft is fixed, and the density of the imaging stripe also changes with the rotation angle of the rotating shaft;
步骤S4：条纹图像传输模块将采集到的条纹图像序列实时传输到计算机，再采用图像处理软件模块进行条纹信号的处理；Step S4: the stripe image transmission module transmits the collected stripe image sequence to the computer in real time, and then uses the image processing software module to perform stripe signal processing;
步骤S5：图像处理软件模块计算每帧图像中同一行像素的左侧和右侧条纹信号条纹密度信息；并通过转角与左右条纹密度组合的数学关系获得转轴转动角速度和转速的时域曲线；Step S5: the image processing software module calculates stripe density information of the left and right stripe signals of the same row of pixels in each frame image; and obtains a time domain curve of the rotational angular velocity and the rotational speed of the rotating shaft by a mathematical relationship between the corner and the left and right stripe density;
步骤S6：通过计算机显示屏显示测量的转角及转速时域曲线，通过信号分析程序对得到的时域曲线作进一步的数据处理和分析，实现机器的状态监测。Step S6: displaying the measured rotation angle and the rotation time domain curve through the computer display screen, and further processing and analyzing the obtained time domain curve through the signal analysis program to realize the state monitoring of the machine.
进一步地，所述双正弦变密度条纹传感器左侧和右侧条纹沿所述双正弦变密度条纹传感器宽度方向的密度数学变化关系式为：Further, the relationship between the left and right side stripes of the double sinusoidal variable density stripe sensor along the width direction of the double sinusoidal variable density stripe sensor is:
其中
d
max和
d
min为设计所述双正弦变密度条纹传感器时的最大和最小条纹密度，
d
左为双正弦变密度条纹传感器左侧条纹密度变化曲线，
d
右为双正弦变密度条纹传感器右侧条纹密度变化曲线，
N为生成双正弦变密度条纹传感器左右两侧条纹密度变化曲线的总点数，
n为总点数
N中的第
n点；
Wherein d max and d min sinusoidal variations for the design of the dual minimum and maximum fringe density sensor stripes density, d is the left double sinusoidal fringe left sensor a variable density curve fringe density, d is a double right-sinusoidal fringe density sensor becomes a right Side strip density variation curve, N is the total number of points of the stripe density change curve on the left and right sides of the double sinusoidal variable density stripe sensor, and n is the nth point in the total number of points N ;
在第
i帧条纹图像时刻采集到所述双正弦变密度条纹传感器左侧和右侧归一化条纹密度
d
1(
i)计算公式为：
The left and right normalized fringe density d 1 ( i ) of the double sinusoidal variable density fringe sensor acquired at the i-th frame fringe image is calculated as:
在第
i帧条纹图像时刻转轴采集到的所述双正弦变密度条纹传感器左侧和右侧归一化条纹密度所对应的正弦相位角计算公式为：
The sinusoidal phase angle corresponding to the left and right normalized fringe densities of the double sinusoidal variable density fringe sensor collected at the time of the ith frame fringe image is:
其中，
phase1为在第
i帧条纹图像时刻采集到所述双正弦变密度条纹传感器左侧条纹密度所对应的正弦相位角，
phase2为在第
i帧条纹图像时刻采集到所述双正弦变密度条纹传感器右侧条纹密度所对应的正弦相位角；
Wherein, phase 1 is the i-th frame fringe image acquisition time to said sinusoidal phase angle becomes double sinusoidal fringe density sensor corresponding to the left fringe density, phase 2 of the i-th frame fringe image acquisition time to the sinusoidal variations bis The sinusoidal phase angle corresponding to the density of the stripe on the right side of the density stripe sensor;
在第
i帧条纹图像时刻采集到所述双正弦变密度条纹传感器左侧和右侧条纹正弦相位角所对应的转轴角度
θ
i 计算公式为：
The rotation axis angle θ i corresponding to the left and right side stripe sinusoidal phase angles of the double sinusoidal variable density stripe sensor acquired at the i-th frame fringe image moment is calculated as:
在第
i帧条纹图像时刻转轴瞬时角速度
w
i
的数学计算公式为：
The mathematical formula for the instantaneous angular velocity w i of the rotational axis at the i-th frame fringe image is:
在第
i帧图像时刻转轴瞬时转速
n
i
的数学计算公式为：
The mathematical formula for the instantaneous rotational speed n i of the axis at the i-th frame image is:
其中，
F
s
为条纹图像采集模块对应的采样频率，Δ
t为条纹图像采集模块的采样频率的倒数。
Wherein, F s is the sampling frequency corresponding to the stripe image acquisition module, and Δ t is the reciprocal of the sampling frequency of the stripe image acquisition module.
（1）该双正弦变密度条纹质量几乎可以忽略，黏贴到转轴上对转轴的动态特性不会产生任何干扰，相对于一些机械式转速测量计来说具有减小对系统干扰的可能性。（2）对于一些光电编码盘式的转速测量计，测量精度会受到码盘分割数的限制，造成固定的误差。而该条纹式的转速测量编码器条纹的密度变化是连续的，只要条纹密度获取的算法足够准确，就可以实现非常小的转角测量，在原理上消除了如编码盘式的转角测量硬件误差。（3）可实现非接触式转速测量，与现有的基于图像跟踪匹配算法的转轴测量方法相比，不需要进行大量的图像跟踪匹配运算，提高了系统测量的运算速度。（4）可实现采样数据的大幅减小，传输帧率的提高。现有的基于图像跟踪匹配算法的转角测量方法，需要对整个编码条纹图像信息进行采集，才能进行局部特征信号的跟踪匹配，加重了采集系统负担，造成硬件资源的浪费。而本发明利用双正弦变密度条纹的条纹密度信息进行转轴角度的编码，最少只需采集一行像素的条纹信息即可实现转轴的转速测量，大幅提高图像传输速率，减小图像的存储空间和计算时间。(1) The quality of the double sinusoidal variable density stripe is almost negligible, and the sticking to the rotating shaft does not cause any interference to the dynamic characteristics of the rotating shaft, and has the possibility of reducing the interference to the system with respect to some mechanical tachometers. (2) For some photoelectric encoder disc type speed measuring instruments, the measurement accuracy will be limited by the number of disc divisions, resulting in a fixed error. The stripe-type rotational speed measurement encoder stripe density variation is continuous, as long as the stripe density acquisition algorithm is sufficiently accurate, a very small angle measurement can be achieved, which eliminates the hardware error of the corner measurement such as the coded disc. (3) Non-contact speed measurement can be realized. Compared with the existing image tracking matching algorithm based on the axis measurement method, a large number of image tracking matching operations are not required, and the calculation speed of the system measurement is improved. (4) The sampling data can be greatly reduced and the transmission frame rate can be improved. The existing corner measurement method based on the image tracking matching algorithm needs to collect the entire encoded fringe image information, so as to perform tracking matching of the local feature signals, which increases the burden on the collection system and causes waste of hardware resources. The invention utilizes the stripe density information of the double sinusoidal variable density stripe to encode the rotation axis angle, and at least only needs to collect the stripe information of one row of pixels to realize the rotation speed measurement of the rotating shaft, greatly improve the image transmission rate, reduce the storage space of the image and calculate time.
图1是本发明实施例的装置结构示意图；1 is a schematic structural view of a device according to an embodiment of the present invention;
图2是本发明实施例中双正弦变密度条纹设计图；2 is a plan view of a double sinusoidal variable density stripe in an embodiment of the present invention;
图3（a）是本发明实施例中双正弦变密度条纹左右两侧正弦变密度条纹的条纹密度变化曲线，图3（b）是本发明实施例中双正弦变密度条纹左右两侧正弦变密度条纹归一化密度变化曲线；3(a) is a stripe density variation curve of sinusoidal variable density stripe on both sides of a double sinusoidal variable density stripe in the embodiment of the present invention, and FIG. 3(b) is a sine transform on the left and right sides of the double sinusoidal variable density stripe in the embodiment of the present invention. Density stripe normalized density curve;
图4（a）是本发明实施例中由双正弦变密度条纹左右两侧正弦变密度条纹的归一化密度变化曲线得到的相位角曲线；图4（b）是由本发明实施例中双正弦变密度条纹左右两侧正弦变密度条纹相位角曲线得到的转角曲线。4(a) is a phase angle curve obtained from a normalized density variation curve of sinusoidal variable density stripe on both sides of a double sinusoidal variable density stripe in the embodiment of the present invention; FIG. 4(b) is a double sine in the embodiment of the present invention. The corner curve obtained by the phase angle curve of the sinusoidal variable density stripe on the left and right sides of the variable density stripe.
图中，1-计算机，2-数据传输线，3-所测转轴，4-双正弦变密度条纹传感器，5-轴承座，6-条纹图像采集模块。 In the figure, 1-computer, 2-data transmission line, 3-measured shaft, 4-double sine variable density stripe sensor, 5-bearing seat, 6-strip image acquisition module.
图1是本发明实施例的装置结构示意图。如图1所示，本实施例提供一种基于双正弦变密度条纹的转角和转速测量装置，包括双正弦变密度条纹传感器4、条纹图像采集模块6、数据传输线2、计算机1、所测转轴3和轴承座5。双正弦变密度条纹传感器4，包覆于所测转轴3的圆周表面，用于编码所测转轴3的转角信息。条纹图像采集模块6，用于对所测转轴3上的双正弦变密度条纹传感器4进行实时采集记录，并将采集到的条纹图像通过数据线2传输到计算机1。安装于计算机1的图像处理软件模块计算每帧图像中的双正弦变密度条纹左侧和右侧条纹的条纹密度信息；然后通过左侧和右侧条纹的密度信息计算出转轴对应的转角，最后通过相邻两帧图像转角差和采样时间间隔计算出转轴的瞬时转动角速度和转速。最后通过计算机1的显示屏显示测量的转角及转速时域曲线，进行进一步的数据处理和分析。1 is a schematic structural view of an apparatus according to an embodiment of the present invention. As shown in FIG. 1 , the embodiment provides a rotation angle and rotation speed measuring device based on double sinusoidal variable density stripe, including a double sine variable density stripe sensor 4, a stripe image acquisition module 6, a data transmission line 2, a computer 1, and a measured rotation shaft. 3 and bearing housing 5. A double sinusoidal variable density stripe sensor 4 is wrapped around the circumferential surface of the measured rotating shaft 3 for encoding the rotational angle information of the measured rotating shaft 3. The stripe image acquisition module 6 is configured to perform real-time acquisition and recording on the double sinusoidal variable density stripe sensor 4 on the measured rotating shaft 3, and transmit the collected stripe image to the computer 1 through the data line 2. The image processing software module installed in the computer 1 calculates the stripe density information of the left and right side stripes of the double sinusoidal variable density stripe in each frame image; then calculates the corner corresponding to the rotating shaft by the density information of the left and right side strips, and finally The instantaneous rotational angular velocity and rotational speed of the rotating shaft are calculated by the image angle difference between the adjacent two frames and the sampling time interval. Finally, the measured corner and speed time domain curves are displayed on the display of the computer 1 for further data processing and analysis.
图2为本发明实施例中双正弦变密度条纹传感器4的设计图。本实施例中，双正弦变密度条纹传感器4的形状为长方形，双正弦变密度条纹传感器4的沿条纹密度变化方向的宽度与所测转轴3的周长相等。双正弦变密度条纹传感器4表面的条纹图像分为左右两侧条纹，左右两侧条纹的条纹密度都按正弦函数变化，右侧条纹的密度变化曲线相对于左侧条纹密度变化曲线相位滞后π/2。测量前，将所述双正弦变密度条纹传感器4沿条纹密度变化方向环设于转轴3圆周表面，以编码所测转轴的转动角度。双正弦变密度条纹传感器4的左右两侧的条纹密度组合与所测转轴0-360度转角的不同角度一一对应，通过计算左右两侧条纹密度获得转轴转角信息。2 is a layout view of a double sinusoidal variable density stripe sensor 4 in accordance with an embodiment of the present invention. In the present embodiment, the shape of the double sinusoidal variable density stripe sensor 4 is a rectangle, and the width of the double sinusoidal variable density stripe sensor 4 in the direction in which the stripe density changes is equal to the circumference of the measured rotating shaft 3. The fringe image on the surface of the double sinusoidal variable density stripe sensor 4 is divided into left and right stripe stripes, and the stripe density of the strips on the left and right sides are changed according to a sinusoidal function. The density variation curve of the right side stripe is phase-lag with respect to the stripe density curve of the left side. 2. Before the measurement, the double sinusoidal variable density stripe sensor 4 is looped on the circumferential surface of the rotating shaft 3 in the direction of the change of the stripe density to encode the rotation angle of the measured rotating shaft. The stripe density combination of the left and right sides of the double sinusoidal variable density stripe sensor 4 is in one-to-one correspondence with the different angles of the 0-360 degree angle of the measured rotating shaft, and the rotation angle information of the shaft is obtained by calculating the stripe density on the left and right sides.
图2是本发明实施例中一种用于测量转轴转动参数的双正弦变密度条纹传感器4的示意图。在实际的工程测量中，可以根据结构的特点设计不同的条纹形式的传感器，如做成条纹形式的转轴套筒或者编码盘，或者采用在转轴上喷涂条纹等，本专利未列出所有各种不同的条纹形式或者粘贴形式，但是基于本发明的方法进行的测量均属于本发明的保护范围。2 is a schematic diagram of a double sinusoidal variable density stripe sensor 4 for measuring rotational axis rotation parameters in an embodiment of the present invention. In the actual engineering measurement, different stripe-shaped sensors can be designed according to the characteristics of the structure, such as a shaft sleeve or a code disc in the form of a stripe, or a stripe on the rotating shaft, etc., all of which are not listed in this patent. Different stripe forms or pasted forms, but measurements made based on the method of the invention are within the scope of the invention.
图3（a）是本发明实施例中双正弦变密度条纹传感器4左右两侧正弦变密度条纹传感器4的条纹密度变化曲线；图3（b）是本发明实施例中双正弦变密度条纹传感器4左右两侧正弦变密度条纹归一化密度变化曲线。3(a) is a stripe density variation curve of the left and right sinusoidal variable density stripe sensor 4 of the double sinusoidal variable density stripe sensor 4 in the embodiment of the present invention; FIG. 3(b) is a double sinusoidal variable density stripe sensor according to an embodiment of the present invention; 4 sinusoidal variable density stripe on both sides of the normalized density curve.
图4（a）是本发明实施例中由双正弦变密度条纹传感器4左右两侧正弦变密度条纹的归一化密度变化曲线得到的相位角曲线；图4（b）是由本发明实施例中双正弦变密度条纹传感器4左右两侧正弦变密度条纹相位角曲线得到的转角曲线。得到的转角信息刚好与转轴转动一周的角度信息一一对应。4(a) is a phase angle curve obtained by normalized density variation curves of sinusoidal variable density strips on the left and right sides of the double sinusoidal variable density stripe sensor 4 in the embodiment of the present invention; FIG. 4(b) is in the embodiment of the present invention. The corner curve obtained by the phase angle curve of the sinusoidal variable density stripe on the left and right sides of the double sinusoidal variable density stripe sensor 4. The obtained corner information is exactly one-to-one corresponding to the angle information of one revolution of the rotating shaft.
本实施例还提供了采用上述装置的转轴转速测量方法，如图1、2、3和4所示，包括以下步骤：The embodiment also provides a method for measuring the rotational speed of the rotating shaft using the above device, as shown in FIGS. 1, 2, 3 and 4, comprising the following steps:
步骤S1：根据所述待测转轴的直径计算出转轴的周长，根据转轴的周长设计好双正弦变密度条纹传感器的宽度，所述宽度等于转轴的周长，并打印好条纹；Step S1: calculating the circumference of the rotating shaft according to the diameter of the rotating shaft to be tested, and designing the width of the double sinusoidal variable density stripe sensor according to the circumference of the rotating shaft, the width is equal to the circumference of the rotating shaft, and the stripe is printed;
步骤S2：在待测转轴表面包覆双正弦变密度条纹传感器；调整好条纹图像采集模块的成像位置并调整好光学镜头的成像焦距，使双正弦变密度条纹传感器成像于条纹图像采集模块中成像传感器的中间位置；Step S2: coating a double sinusoidal variable density stripe sensor on the surface of the shaft to be tested; adjusting the imaging position of the stripe image acquisition module and adjusting the imaging focal length of the optical lens, so that the double sinusoidal variable density stripe sensor is imaged in the stripe image acquisition module The middle position of the sensor;
步骤S3：采用条纹图像采集模块对双正弦变密度条纹传感器进行实时采集记录，因成像传感器和转轴的位置是固定的，成像条纹的密度也随着转轴转动角度的变化而变化；Step S3: real-time acquisition and recording of the double sinusoidal variable density stripe sensor by using the stripe image acquisition module, because the position of the imaging sensor and the rotating shaft is fixed, and the density of the imaging stripe also changes with the rotation angle of the rotating shaft;
步骤S4：条纹图像传输模块将采集到的条纹图像序列实时传输到计算机，再采用图像处理软件模块进行条纹信号的处理；Step S4: the stripe image transmission module transmits the collected stripe image sequence to the computer in real time, and then uses the image processing software module to perform stripe signal processing;
步骤S5：图像处理软件模块计算每帧图像中同一行像素的左侧和右侧条纹信号条纹密度信息；并通过转角与左右条纹密度组合的数学关系获得转轴转动角速度和转速的时域曲线；Step S5: the image processing software module calculates stripe density information of the left and right stripe signals of the same row of pixels in each frame image; and obtains a time domain curve of the rotational angular velocity and the rotational speed of the rotating shaft by a mathematical relationship between the corner and the left and right stripe density;
步骤S6：通过计算机显示屏显示测量的转角及转速时域曲线，通过信号分析程序对得到的时域曲线作进一步的数据处理和分析，实现机器的状态监测。Step S6: displaying the measured rotation angle and the rotation time domain curve through the computer display screen, and further processing and analyzing the obtained time domain curve through the signal analysis program to realize the state monitoring of the machine.
进一步地，所述双正弦变密度条纹传感器左侧和右侧条纹沿所述双正弦变密度条纹传感器宽度方向的密度数学变化关系式为：Further, the relationship between the left and right side stripes of the double sinusoidal variable density stripe sensor along the width direction of the double sinusoidal variable density stripe sensor is:
其中
d
max和
d
min为设计所述双正弦变密度条纹传感器时的最大和最小条纹密度，
d
左为双正弦变密度条纹传感器左侧条纹密度变化曲线，
d
右为双正弦变密度条纹传感器右侧条纹密度变化曲线，
N为生成双正弦变密度条纹传感器左右两侧条纹密度变化曲线的总点数，
n为总点数
N中的第
n点；
Wherein d max and d min sinusoidal variations for the design of the dual minimum and maximum fringe density sensor stripes density, d is the left double sinusoidal fringe left sensor a variable density curve fringe density, d is a double right-sinusoidal fringe density sensor becomes a right Side strip density variation curve, N is the total number of points of the stripe density change curve on the left and right sides of the double sinusoidal variable density stripe sensor, and n is the nth point in the total number of points N ;
在第
i帧条纹图像时刻采集到所述双正弦变密度条纹传感器左侧和右侧归一化条纹密度
d
1(
i)计算公式为：
In the i-th frame fringe image acquisition time to the variable density dual stripe sensor sinusoidal left and right normalized fringe density calculating d 1 (i) is of the formula:
在第
i帧条纹图像时刻转轴采集到的所述双正弦变密度条纹传感器左侧和右侧归一化条纹密度所对应的正弦相位角计算公式为：
The sinusoidal phase angle corresponding to the left and right normalized fringe densities of the double sinusoidal variable density fringe sensor collected at the time of the ith frame fringe image is:
其中，
phase1为在第
i帧条纹图像时刻采集到所述双正弦变密度条纹传感器左侧条纹密度所对应的正弦相位角，
phase2为在第
i帧条纹图像时刻采集到所述双正弦变密度条纹传感器右侧条纹密度所对应的正弦相位角；
Wherein, phase 1 is the i-th frame fringe image acquisition time to said sinusoidal phase angle becomes double sinusoidal fringe density sensor corresponding to the left fringe density, phase 2 of the i-th frame fringe image acquisition time to the sinusoidal variations bis The sinusoidal phase angle corresponding to the density of the stripe on the right side of the density stripe sensor;
在第
i帧条纹图像时刻采集到所述双正弦变密度条纹传感器左侧和右侧条纹正弦相位角所对应的转轴角度
θ
i 计算公式为：
The rotation axis angle θ i corresponding to the left and right side stripe sinusoidal phase angles of the double sinusoidal variable density stripe sensor acquired at the i-th frame fringe image moment is calculated as:
在第
i帧条纹图像时刻转轴瞬时角速度
w
i
的数学计算公式为：
The mathematical formula for the instantaneous angular velocity w i of the rotational axis at the i-th frame fringe image is:
在第
i帧图像时刻转轴瞬时转速
n
i
的数学计算公式为：
The mathematical formula for the instantaneous rotational speed n i of the axis at the i-th frame image is:
其中，
F
s
为条纹图像采集模块对应的采样频率，Δ
t为条纹图像采集模块的采样频率的倒数。
Wherein, F s is the sampling frequency corresponding to the stripe image acquisition module, and Δ t is the reciprocal of the sampling frequency of the stripe image acquisition module.
Claims (10)
- 一种基于双正弦变密度条纹的转速测量装置，其特征在于：包括A rotating speed measuring device based on double sinusoidal variable density stripe, characterized in that:一双正弦变密度条纹传感器，包覆于待测转轴圆周表面，用以编码所述待测转轴的转角信息；a pair of sinusoidal variable density stripe sensors coated on the circumferential surface of the shaft to be tested for encoding the rotation angle information of the shaft to be tested;一条纹图像采集和传输模块，用以对所述待测转轴表面的双正弦变密度条纹传感器进行连续采集记录，并将采集到的条纹图像信号进行传输；所述条纹图像采集和传输模块包括条纹成像传感器、光学镜头、成像控制系统和传输系统；a stripe image acquisition and transmission module for continuously collecting and recording the double sinusoidal variable density stripe sensor on the surface of the shaft to be tested, and transmitting the collected stripe image signal; the stripe image acquisition and transmission module includes stripes Imaging sensor, optical lens, imaging control system, and transmission system;一计算机，用以对所述条纹图像采集和传输模块进行控制，并对经传输系统传输到计算机的条纹图像信号进行存储和处理；a computer for controlling the stripe image acquisition and transmission module and storing and processing the stripe image signal transmitted to the computer via the transmission system;一条纹图像处理软件模块，设置于所述计算机中，用以对所述的条纹图像信号进行处理，计算转轴的时域转角和转速曲线。A stripe image processing software module is disposed in the computer for processing the stripe image signal to calculate a time domain rotation angle and a speed curve of the rotating shaft.
- 根据权利要求1所述的一种基于双正弦变密度条纹的转速测量装置，其特征在于：所述双正弦变密度条纹传感器为轻质贴片，所述双正弦变密度条纹传感器轻质贴片的正面为条纹图像，背面为粘性层，环贴于所述待测转轴的圆周表面。A double sinusoidal variable density stripe-based rotational speed measuring device according to claim 1, wherein said double sinusoidal variable density stripe sensor is a lightweight patch, said double sinusoidal variable density stripe sensor lightweight patch The front side is a striped image, and the back side is an adhesive layer attached to the circumferential surface of the rotating shaft to be tested.
- 根据权利要求1所述的一种基于双正弦变密度条纹的转速测量装置，其特征在于：所述双正弦变密度条纹传感器为轻质圆形套筒，所述双正弦变密度条纹传感器套筒的外圆周表面为条纹图像，套筒内径与所述待测转轴的直径相等，套筒套设于所述待测转轴上。A double sinusoidal variable density stripe-based rotational speed measuring device according to claim 1, wherein said double sinusoidal variable density stripe sensor is a lightweight circular sleeve, said double sinusoidal variable density stripe sensor sleeve The outer circumferential surface is a stripe image, the inner diameter of the sleeve is equal to the diameter of the shaft to be tested, and the sleeve is sleeved on the shaft to be tested.
- 根据权利要求2或3所述的一种基于双正弦变密度条纹的转速测量装置，其特征在于：所述双正弦变密度条纹传感器的形状为长方形，所述长方形的宽度方向为所述双正弦变密度条纹传感器表面条纹图像的条纹密度变化方向，所述宽度与所测转轴的周长相等。A rotation measuring device based on double sinusoidal variable density stripe according to claim 2 or 3, wherein the double sinusoidal variable density stripe sensor has a rectangular shape, and the width direction of the rectangle is the double sine The stripe density of the variable-density stripe sensor surface stripe image changes direction, the width being equal to the circumference of the measured reel.
- 根据权利要求书4所述的一种基于双正弦变密度条纹的转速测量装置，其特征在于：所述双正弦变密度条纹传感器表面的条纹图像沿所述长方形的长度方向分为左右两侧条纹，左右两侧条纹的条纹密度沿所述长方形宽度方向都按正弦函数变化，右侧条纹的密度变化曲线相对于左侧条纹密度变化曲线相位滞后π/2。A rotation measuring device based on double sinusoidal variable density stripe according to claim 4, wherein the stripe image of the surface of the double sinusoidal variable density stripe sensor is divided into left and right side strips along the length direction of the rectangle. The stripe density of the strips on the left and right sides varies according to the sinusoidal function along the width direction of the rectangle, and the density variation curve of the right stripe lags by π/2 with respect to the stripe density curve of the left side.
- 根据权利要求5所述的一种基于双正弦变密度条纹的转速测量装置，其特征在于：包覆于转轴表面的所述双正弦变密度条纹传感器的左右两侧的条纹密度组合与转轴0-360度转角的不同角度一一对应，通过计算左右两侧条纹密度获得转轴转角信息。A rotation measuring device based on double sinusoidal variable density stripe according to claim 5, wherein the stripe density combination of the left and right sides of the double sinusoidal variable density stripe sensor coated on the surface of the rotating shaft is 0- The angles of the 360-degree corners are one-to-one correspondence, and the rotation angle information of the shaft is obtained by calculating the stripe density on the left and right sides.
- 根据权利要求5或6所述的一种基于双正弦变密度条纹的转速测量装置，其特征在于：条纹图像采集模块的采集帧率和成像传感器采集像素范围能够调节，条纹图像采集模块放置于包覆在待测转轴上的双正弦变密度条纹传感器的长度方向的中央且与转轴轴心垂直的正前方，以使所述双正弦变密度条纹传感器能够清晰成像于所述条纹图像采集模块的成像传感器中间位置。A rotation measuring device based on double sinusoidal variable density stripe according to claim 5 or 6, wherein the acquisition frame rate of the stripe image acquisition module and the imaging sensor acquisition pixel range are adjustable, and the stripe image acquisition module is placed in the package. Covering the center of the longitudinal direction of the double sinusoidal variable density stripe sensor on the shaft to be tested and perpendicular to the axis of the shaft, so that the double sinusoidal variable density stripe sensor can be clearly imaged on the image of the stripe image acquisition module The middle position of the sensor.
- 根据权利要求7所述的一种基于双正弦变密度条纹的转速测量装置，其特征在于：所述条纹成像传感器为面阵成像传感器或线阵成像传感器。A rotation measuring device based on double sinusoidal variable density stripe according to claim 7, wherein the stripe imaging sensor is an area array imaging sensor or a line array imaging sensor.
- 一种根据权利要求4-8之一所述的基于双正弦变密度条纹的转速测量装置的测量方法，其特征在于：包括以下步骤：A method for measuring a rotational speed measuring device based on double sinusoidal variable density fringes according to any one of claims 4-8, comprising the steps of:步骤S1：根据所述待测转轴的直径计算出转轴的周长，根据转轴的周长设计好双正弦变密度条纹传感器的宽度，所述宽度等于转轴的周长，并打印好条纹；Step S1: calculating the circumference of the rotating shaft according to the diameter of the rotating shaft to be tested, and designing the width of the double sinusoidal variable density stripe sensor according to the circumference of the rotating shaft, the width is equal to the circumference of the rotating shaft, and the stripe is printed;步骤S2：在待测转轴表面包覆双正弦变密度条纹传感器；调整好条纹图像采集模块的成像位置并调整好光学镜头的成像焦距，使双正弦变密度条纹传感器成像于条纹图像采集模块中成像传感器的中间位置；Step S2: coating a double sinusoidal variable density stripe sensor on the surface of the shaft to be tested; adjusting the imaging position of the stripe image acquisition module and adjusting the imaging focal length of the optical lens, so that the double sinusoidal variable density stripe sensor is imaged in the stripe image acquisition module The middle position of the sensor;步骤S3：采用条纹图像采集模块对双正弦变密度条纹传感器进行实时采集记录，因成像传感器和转轴的位置是固定的，成像条纹的密度也随着转轴转动角度的变化而变化；Step S3: real-time acquisition and recording of the double sinusoidal variable density stripe sensor by using the stripe image acquisition module, because the position of the imaging sensor and the rotating shaft is fixed, and the density of the imaging stripe also changes with the rotation angle of the rotating shaft;步骤S4：条纹图像传输模块将采集到的条纹图像序列实时传输到计算机，再采用图像处理软件模块进行条纹信号的处理；Step S4: the stripe image transmission module transmits the collected stripe image sequence to the computer in real time, and then uses the image processing software module to perform stripe signal processing;步骤S5：图像处理软件模块计算每帧图像中同一行像素的左侧和右侧条纹信号条纹密度信息；并通过转角与左右条纹密度组合的数学关系获得转轴转动角速度和转速的时域曲线；Step S5: the image processing software module calculates stripe density information of the left and right stripe signals of the same row of pixels in each frame image; and obtains a time domain curve of the rotational angular velocity and the rotational speed of the rotating shaft by a mathematical relationship between the corner and the left and right stripe density;步骤S6：通过计算机显示屏显示测量的转角及转速时域曲线，通过信号分析程序对得到的时域曲线作进一步的数据处理和分析，实现机器的状态监测。Step S6: displaying the measured rotation angle and the rotation time domain curve through the computer display screen, and further processing and analyzing the obtained time domain curve through the signal analysis program to realize the state monitoring of the machine.
- 根据权利要求9所述的一种基于双正弦变密度条纹的转速测量装置的测量方法，其特征在于：所述双正弦变密度条纹传感器左侧和右侧条纹沿所述双正弦变密度条纹传感器宽度方向的密度数学变化关系式为：A method for measuring a rotational speed measuring device based on double sinusoidal variable density fringes according to claim 9, wherein said double sinusoidal variable density fringe sensor has left and right side stripes along said double sinusoidal variable density stripe sensor The mathematical relationship of density in the width direction is:
其中 d max和 d min为设计所述双正弦变密度条纹传感器时的最大和最小条纹密度， d 左为双正弦变密度条纹传感器左侧条纹密度变化曲线， d 右为双正弦变密度条纹传感器右侧条纹密度变化曲线， N为生成双正弦变密度条纹传感器左右两侧条纹密度变化曲线的总点数， n为总点数 N中的第 n点； Wherein d max and d min sinusoidal variations for the design of the dual minimum and maximum fringe density sensor stripes density, d is the left double sinusoidal fringe left sensor a variable density curve fringe density, d is a double right-sinusoidal fringe density sensor becomes a right Side strip density variation curve, N is the total number of points of the stripe density change curve on the left and right sides of the double sinusoidal variable density stripe sensor, and n is the nth point in the total number of points N ;在第 i帧条纹图像时刻采集到所述双正弦变密度条纹传感器左侧和右侧归一化条纹密度 d 1( i)计算公式为： The left and right normalized fringe density d 1 ( i ) of the double sinusoidal variable density fringe sensor acquired at the i-th frame fringe image is calculated as:
在第 i帧条纹图像时刻转轴采集到的所述双正弦变密度条纹传感器左侧和右侧归一化条纹密度所对应的正弦相位角计算公式为： The sinusoidal phase angle corresponding to the left and right normalized fringe densities of the double sinusoidal variable density fringe sensor collected at the time of the ith frame fringe image is:
其中， phase1为在第 i帧条纹图像时刻采集到所述双正弦变密度条纹传感器左侧条纹密度所对应的正弦相位角， phase2为在第 i帧条纹图像时刻采集到所述双正弦变密度条纹传感器右侧条纹密度所对应的正弦相位角； Wherein, phase 1 is the i-th frame fringe image acquisition time to said sinusoidal phase angle becomes double sinusoidal fringe density sensor corresponding to the left fringe density, phase 2 of the i-th frame fringe image acquisition time to the sinusoidal variations bis The sinusoidal phase angle corresponding to the density of the stripe on the right side of the density stripe sensor;在第 i帧条纹图像时刻采集到所述双正弦变密度条纹传感器左侧和右侧条纹正弦相位角所对应的转轴角度 θ i 计算公式为： The rotation axis angle θ i corresponding to the left and right side stripe sinusoidal phase angles of the double sinusoidal variable density stripe sensor acquired at the i-th frame fringe image moment is calculated as:
在第 i帧条纹图像时刻转轴瞬时角速度 w i 的数学计算公式为： The mathematical formula for the instantaneous angular velocity w i of the rotational axis at the i-th frame fringe image is:
在第 i帧图像时刻转轴瞬时转速 n i 的数学计算公式为： The mathematical formula for the instantaneous rotational speed n i of the axis at the i-th frame image is:
其中， F s 为条纹图像采集模块对应的采样频率，Δ t为条纹图像采集模块的采样频率的倒数。 Wherein, F s is the sampling frequency corresponding to the stripe image acquisition module, and Δ t is the reciprocal of the sampling frequency of the stripe image acquisition module.
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