CN100567989C - Tri-dimensional wind speed wind direction measuring apparatus based on omni-directional visual - Google Patents

Abstract

A kind of tri-dimensional wind speed wind direction measuring apparatus based on omni-directional visual, comprise support, omnibearing vision sensor and detection wind speed and direction microprocessor, horizontal direction and vertical direction at support are all installed vane, reducing gear, fixed connecting rod, weathercock and wind azimuth piece, vane is fixedlyed connected with the input shaft upper end of reducing gear, the input shaft lower end of reducing gear is socketed in the upper end of fixed connecting rod, weathercock is sleeved on the coupling shaft, coupling shaft is fixedlyed connected with the fixed connecting rod lower end, the wind azimuth piece is installed in the end of weathercock, the upper end of wind azimuth piece and described reducing gear are positioned at same plane, on the input shaft of reducing gear and output shaft, pointer is installed respectively, two pointers, the top of wind azimuth piece is provided with the marker color of setting, and the visual range of vision sensor comprises the plane, reducing gear place of horizontal direction and vertical direction.Precision height of the present invention, highly sensitive, reliably and with long-term, testing result good reliability and effectively detect tri-dimensional wind speed wind direction.

Description

Tri-dimensional wind speed wind direction measuring apparatus based on omni-directional visual

Technical field

The invention belongs to the application of computer image processing technology, tri-dimensional wind speed wind direction visualization technique and mechanical designing technique, mainly be applicable to fields such as meteorology, ocean, environment, agricultural, water conservancy, electric power, military affairs, airport, scientific research, historical relic's protection in the wind speed and direction context of detection.

Background technology

The wind field measurement comprises wind speed and wind direction, and desirable wind field survey sensor should be determined a trivector.But all there is great difficulty in trivector in development and demarcation.Thereby general wind field survey sensor determines all is two-dimensional vector, generally is thought of as (xy plane) two-dimensional vector, wind speed-Mo value and wind direction-direction.At some in particular cases, vertical movement is also quite remarkable, as the leeward slope on mountain, strong convective cloud.

The technology of measuring wind mainly is divided into following four kinds at present: 1) rotary measuring wind speed; 2) pressure type measuring wind speed; 3) heating power formula measuring wind speed; 4) ultrasonic measuring wind speed.Common measuring wind speed instrument has following three kinds on the market: 1. cup anemometer is most widely used a kind of anemometer.By three (or four) semispheres or the empty cup of parabolical, all be evenly distributed on the horizontal stand along one side, support links to each other with rotating shaft.Under wind action, vane rotates around the shaft, and its rotating speed is proportional to wind speed.Rotating speed can be used records such as electric contact, tech-generator, gear or photoelectric counter.2. the oar blade type anemometer is equally spaced installed in one vertical by certain angle by some blades, can rotate around transverse axis against the wind, and its rotating speed is proportional to wind speed.Blade has two kinds of the windmill type of plate blade and propeller types.Modal is by the cloverleaf four-blade propeller, is contained in the streamlined weathervane front portion of likeness in form airframe, weathervane make the blade Plane of rotation aim at all the time wind come to.Wherein cup anemometer and oar blade type anemometer all belong to rotary measuring wind speed on principle.3. heating power formula anemometer by the fine wire of current flow heats or microsphere resistance, is placed in the air-flow, and the square root of its rate of heat dissipation and wind speed is linear.Usually when making heating current constant, measure the temperature of heating object, just can extrapolate wind speed.Heating power formula anemometer induction speed is fast, and time constant has only a few percent second, when little wind speed sensitivity higher, should be applied to indoor and open-air atmospheric turbulence and test, also be the important tool of agricultural weather measurement.

Because the development of CMOS technology is adopted the silicon heat flux to carry out wind speed and direction and is measured; Utilize the measuring principle of temperature difference type, sensor surface is heated, make it to be higher than the environment uniform temperature, by measuring wind direction symmetric points place since on the sheet that Influences on Wind Velocity produces the temperature difference obtain the information of wind speed and direction, also be a kind of heating power formula wind measurement method on principle.This measurement means generally is applicable to indoor wind field measurement.Ultrasonic measuring wind speed is to utilize ultrasound wave to do two-way propagation along air-flow direction, thereby measures the instrument of nature wind speed.

In meteorological observation, adopt a vane formula wind gage to come measuring wind, it is insensitive to wind direction, adopts a weathercock again, is used to measure the direction vector on plane relatively.Existing rotary measuring wind speed instrument has been gone through development and the improvement of several decades, is extensively promoted the use of with its power consumption simple in structure, no, outstanding advantage such as directly perceived.What the wind velocity signal conversion method in rotary measuring wind speed instrument adopted is that electric motor type and electricity connect these two kinds of methods of formula: in electric motor type measuring wind speed instrument, vane drives tech-generator, the voltage signal that output is directly proportional with rotating speed (wind speed); Connect in the formula measuring wind speed instrument at electricity, vane is through the pulse signal of the certain fetch of gear output representative, number of pulse signals in the metering predetermined distance time, and the mean wind speed that obtains this period equals fetch number/interval time this period.The air velocity transducer of electricity type is that electricity connects a kind of opto-electronic conversion in the formula wind measurement method, adopt low inertia light metal vane in the sensor, rotation with the wind drives coaxial episcotister and rotates, with photoelectron scanning output pulse string, output is corresponding to the pulsed frequency respective value of revolution.

Weathervane is a kind of critical piece of most widely used measurement wind direction instrument.Pointing to bar, empennage and turning axle by level forms.Under wind action, empennage produces turning moment rotates weathervane, and constantly adjusts and point to bar indication wind direction.At present mainly adopted various angular transducers to carry out the conversion of wind direction signals the conversion of wind direction signals, mainly contained: 1) mechanical type; 2) electric; 3) potentiometer formula; 4) four kinds of angular transducers such as photo-electric.The wind transducer of photo-electric adopts the weathervane response wind direction of low inertia light metal, drives coaxial code-disc and rotates, and this code-disc is pressed gray encoding and with photoelectron scanning, exported the electric signal of corresponding wind direction.The wind direction of weathervane induction must be delivered on the indicating instrument on ground, the simplest with contact, weathervane drives the contact, connects bulb or the recording pointer electromagnet of representing wind direction, make the indication or the record of wind direction, but its resolution can only be accomplished an orientation (22.5 °).Accurate method has selsyn and photoelectric code disk.

The 7th part of QX/TXXXX-2005 " surface weather observation standard ", " the surface weather observation standard " issued in view of China Meteorological Administration generally acknowledged by domestic a lot of industries for many years and adopted, so the domestic file of the main foundation of QX/TXXXX-2005 is " surface weather observation standard " (China Meteorological Administration, the Meteorology Publishing House, 2003.11) and relevant supplementary document.The international document of reference is " meteorologic instrument and observation procedure guide " sixth version (World Meteorological Organization (WMO)) and " global observing system handbook (World Meteorological Organization (WMO)).Clearly stipulated content in this standard, can adopt dual mode to observe, be i.e. artificial observation and observation automatically surface weather observation.When artificial observation, measure mean wind speed and maximum wind direction.That is furnished with recording instrument wants the style to the continuous recording of wind speed and put in order.When observing automatically, measure mean wind speed, mean wind direction, maximum wind velocity, extreme wind speed.This specifications recommend standard is made up of wind direction and wind speed two parts.The wind direction part is made up of weathercock, wind azimuth piece, conducting ring, contact spring etc.; The wind speed part is made up of vane, alternator, worm gear etc.

The environment for use condition of the sensor of observation wind direction and wind velocity is very abominable, not only the wind speed variation range is big, and be in that temperature variation is big, under high humidity, sand and dust, strong wind and thunder and lightning disturb, add that condition of power supply from far-off regions is poor, manipulate personnel specialty knowledge shortcoming etc., therefore, high to the qualitative performance requirements of wind direction and wind velocity.Good wind direction and wind velocity sensor should have following characteristic:

(1) the wind speed loss is low, resolving power is high, can detect minimum wind speed, can react the change of wind direction when little wind, and good startability is promptly arranged; Have good dynamic perfromance, can follow the tracks of extraneous wind direction quickly and accurately and change.

(2) measuring accuracy height must reach the measuring error that " standard " requires.

(3) measuring error is not subjected to wind speed variable effect or influenced minimum, is 0.5～60m/s or in larger scope at wind speed, can keep high precision, and measuring error is smaller or equal to ± 2%.

(4) (as: high temperature, high humidity, sand and dust, thunder and lightning etc.) can work reliably and with long-term under the influence of abominable external environment condition.

(5) no power consumption type or extremely low power dissipation type.

(6) install, adjust simple and convenient.

(7) error calibrating equipment needed thereby is simple, and on-site proving is easy to operation.

At present in the research and development field of wind speed wind direction sensor, unrolling improve the wind speed and direction data acquisition, there are some new achievements the transmission aspect.As the Chinese utility model publication number analog dial digital display anemometer that is CN2708334; China's utility model publication number is the automatic Acquisition Instrument of a kind of wind speed and direction of CN2321006; China's utility model publication number is CN2266740 propeller type wind detection sensor.More than the defective that exists of various anemometers be: precision is low, sensitivity is low, poor reliability.

Original technology will realize that the wind speed and direction measurement on the three dimensions is very difficult, and the demarcation for the tri-dimensional wind speed wind direction sensor also is a difficult matter simultaneously.

Summary of the invention

Low for the precision that overcomes existing wind speed and direction sensing device, sensitivity is low, poor reliability, can not effectively detect the deficiency of tri-dimensional wind speed wind direction, the invention provides a kind of precision height, highly sensitive, reliably and with long-term, the testing result good reliability, effectively detect the tri-dimensional wind speed wind direction measuring apparatus based on omni-directional visual of tri-dimensional wind speed wind direction.

The technical solution adopted for the present invention to solve the technical problems is:

A kind of tri-dimensional wind speed wind direction measuring apparatus based on omni-directional visual, comprise support, vane, reducing gear, fixed connecting rod, weathercock, the wind azimuth piece, vision sensor and detection wind speed and direction microprocessor, horizontal direction and vertical direction at support are all installed vane, reducing gear, fixed connecting rod, weathercock and wind azimuth piece, described vision sensor is rack-mount, described vane is fixedlyed connected with the input shaft upper end of reducing gear, the input shaft lower end of described reducing gear is socketed in the upper end of fixed connecting rod, described weathercock is sleeved on the coupling shaft, described coupling shaft is fixedlyed connected with the fixed connecting rod lower end, the wind azimuth piece is installed in the end of described weathercock, the height of the upper end of described wind azimuth piece and described reducing gear are positioned at same plane, on the input shaft of reducing gear and output shaft, pointer is installed, described two pointers respectively, the top of wind azimuth piece is provided with the marker color of setting; Described vision sensor is an omnibearing vision sensor, comprise evagination catadioptric minute surface, in order to prevent dark circles cone, the transparent cylinder that anaclasis and light are saturated and to be used to take the camera of imaging body on the evagination mirror surface, described evagination catadioptric minute surface is positioned at the top of transparent cylinder, evagination catadioptric minute surface down, the dark circles cone is fixed on the bottom center of evagination catadioptric minute surface, and described camera facing to evagination catadioptric minute surface up; The visual range of described vision sensor comprises the plane, reducing gear place of horizontal direction and the plane, reducing gear place of vertical direction; Described detection wind speed and direction comprises with microprocessor: the view data read module is used to read vision sensor and passes the video image information of coming; Detection range is cut apart module, and the comprehensive video information that is used for obtaining from omnibearing vision sensor is divided into horizontal direction video and vertical direction video, the corresponding XY of horizontal direction plane, the corresponding YZ of vertical direction plane; The color space conversion module is used for video image is transformed into yuv space from rgb color space; The corner computing module, be used to calculate two pointers on described XY plane and YZ plane and the corner of wind azimuth piece, video image is converted into binary image, default wind azimuth piece and the fulcrum of two pointers on binary image, the transverse axis of visual plane is the north-south, the longitudinal axis is an East and West direction, the wind azimuth piece fulcrum that will unroll rotates when wind direction changes, after vane is subjected to wind-force, there is the pointer of obvious color characteristic this central point that also can unroll to rotate, the center of wind azimuth piece and the pitch angle of the straight line between the fulcrum are the corner of wind azimuth piece, and the center of pointer and the pitch angle of the straight line between the fulcrum are the corner of pointer; The wind speed detection module, be used for the wind speed on the detection level two dimensional surface, set the inspection process time of every two field picture, the angle of pointer on input shaft in the observation reducing gear and the output shaft, when gentle breeze, N comes the angle of vane rotation in the representation unit time, i.e. the angle of pointer rotation on the input shaft, and the relation between the angle that wind speed and vane rotate is represented by formula (2);

V＝a+bN+cN ² (2)

In the following formula: V represents wind speed, is unit with the meter per second, the angle of vane rotation in the N representation unit time, and a, b, c represent wind-tunnel demarcation constant;

When high wind, the reduction gear ratio of reducing gear is n, and the relation between the angle of the output shaft rotation of wind speed and reducing gear is represented by formula (3):

V＝a+bN/n+c(N/n) ² (3)

In the following formula: V represents wind speed, is unit with the meter per second, the angle of the output shaft of reducing gear rotation in the N/n representation unit time; A, b, c represent wind-tunnel demarcation constant;

The wind direction detection module is used to detect the wind direction on described XY plane and YZ plane, sets the inspection process time of every two field picture, the angle of observation weathervane, and the centre position of writing down its hunting range, each two field picture obtains the corner of weathercock

The wind speed and direction vector of above-mentioned two two dimensions that obtain is carried out the wind speed and direction vector that vector adds the three-dimensional that obtains, calculates by formula (1),

${\stackrel{\→}{V}}_{\mathrm{xyz}}={\stackrel{\→}{V}}_{\mathrm{xy}}+{\stackrel{\→}{V}}_{\mathrm{yz}}---\left(1\right)$

In the following formula:

The wind speed and direction of a three-dimensional of expression,

Represent this projection of three-dimensional wind speed and direction on the XY plane,

Represent this projection of three-dimensional wind speed and direction on the YZ plane.

Further, in described wind speed detection module, comprise instantaneous wind speed computing unit, maximum instantaneous power computing unit, one-minute average wind speed computing unit, two minutes mean wind speed computing units, ten minutes mean wind speed computing units and day maximum wind velocity computing unit, wherein

The instantaneous wind speed computing unit, be used to calculate the mean wind speed in 3 seconds on described XY plane and YZ plane, the sampling interval of setting video image was 5 frame/seconds, be the sampling time of 15 frame video images 3 seconds, the pointer experience of the output shaft of accumulative total reducing gear is handled the angle of being rotated in 15 frame video image times, N/n with in this angle value substitution formula (2) tries to achieve instantaneous wind speed V ₃(t);

The maximum instantaneous power computing unit is used to add up the maximum instantaneous power value that occurs in the period setting;

One-minute average wind speed computing unit is used for according to instantaneous wind speed V ₃(t) try to achieve mean wind speed V (t) in one minute by formula (14):

$V\left(t\right)=\underset{t=1}{\overset{20}{\mathrm{\Σ}}}{V}_3(t-19)---\left(14\right)$

In the formula: V ₃(t) mean wind speed in 3 seconds of expression, one minute mean wind speed of V (t) expression;

Two minutes mean wind speed computing units are used for two minutes mean wind speeds asking by formula (15) according to one minute mean wind speed V (t):

$V_2\left(t\right)=\frac{\underset{t=1}{\overset{2}{\mathrm{\Σ}}}V(t-1)}{2}---\left(15\right)$

In the formula: V ₃(t) two minutes mean wind speeds of expression; Mean wind speed in V (t) the expression current time try to achieve a minute;

Ten minutes mean wind speed computing units are used for ten minutes mean wind speeds asking by formula (16) according to one minute mean wind speed V (t):

$V_{10}\left(t\right)=\frac{\underset{t=1}{\overset{10}{\mathrm{\Σ}}}V(t-9)}{10}---\left(16\right)$

In the formula: V ₁₀(t) ten minutes mean wind speeds of expression; Mean wind speed in V (t) the expression current time try to achieve a minute;

Day maximum wind velocity computing unit is used for the wind speed that the wind speed record intercepts 10 minutes line segments respectively according to 20 o'clock 20 o'clock～next day of every day and compares, and selects maximal value as 10 minutes this days maximum wind velocity, calculates a day maximum wind velocity V by computing formula (17) _10-max(t):

V _10-max(t)＝max(V ₁₀(20:10)，V ₁₀(20:20)，......，V ₁₀(20:00)) (17)。

Further, in described wind direction detection module, comprise instantaneous wind direction computing unit, two minutes mean wind direction computing units and ten minutes mean wind direction computing units, wherein,

Instantaneous wind direction computing unit, what be used for observing described XY plane and YZ plane obtains the corner of weathercock at each two field picture

The sampling interval of video image was 5 frame/seconds, and be the sampling time of 15 frame video images 3 seconds, tried to achieve the centre position of the hunting range of the weathercock in 3 seconds with formula (18):

In the formula:

Represent a two field picture apoplexy target corner,

The centre position of representing the hunting range of the weathercock in 3 seconds;

Two minutes mean wind direction computing units are used for basis

Try to achieve the centre position of the hunting range of two minutes weathercocks by formula (19),

In the formula:

The centre position of the hunting range of two minutes weathercocks of expression,

The centre position of representing the hunting range of the weathercock in 3 seconds;

Ten minutes mean wind direction computing units are used for basis

Try to achieve the centre position of the hunting range of ten minutes weathercocks by formula (20),

In the formula:

The centre position of the hunting range of ten minutes weathercocks of expression,

The centre position of representing the hunting range of the weathercock in two minutes.

Further again, described reducing gear comprises pinion wheel and gear wheel, and described input shaft connects with pinion wheel, described pinion wheel and gear wheel engagement, and described gear wheel connects with output shaft.

Described reducing gear is an epicyclic reduction gear of planetary type mechanism, and described epicyclic type mechanism comprises internal gear, gear and sun gear, and sun gear connects with input shaft, and described internal gear connects with output shaft.

The top of described two pointers, wind azimuth piece scribbles fluorescent material.

Installation guide pin on the described coupling shaft.Described measurement mechanism also comprises charging circuit, and the input shaft of described reducing gear connects generator, and described generator connects charging circuit, described charging circuit joint detection wind speed and direction microprocessor.

Technical conceive of the present invention is: omnibearing vision sensor that developed recently gets up and computer vision technique provide a kind of new solution for observe wind speed and direction from three dimensions, along with communication and development of internet technology, observe the wind speed and direction situation for long-range three dimensions various new means are provided simultaneously.Therefore how to pass through omnibearing vision sensor, computer image processing technology, the network communications technology, wind speed and direction visualization technique and mechanical designing technique detect at tri-dimensional wind speed wind direction, and the realtime graphic that obtains according to camera head, by calculating automatic judgement, means such as image recognition, in resolution that improves the wind speed and direction measurement and range extension scope, improve the precision of measuring wind wind direction, alleviate the installation of wind speed wind direction sensor, adjust, the difficulty of maintenance and error calibrating, for accurately, sensitive, reliably and with long-term, wide-range, low-cost, measurement and signal output that high-quality is finished wind speed and direction provide new means, also can provide simultaneously a kind of and can obtain the tri-dimensional wind speed wind direction information that monitors in the region by various remote access means, comprising the visual video information of wind speed wind direction sensor, so that remote handle observation and maintenance.

Mode with 3D vision detects wind speed and direction, at first need to carry out the wind speed and direction of three-dimensional visual, three-dimensional wind speed and direction vector can be regarded wind speed and direction vector by two two dimensions as and carry out vector and add and obtain, as shown in Figure 13, the calculating of the wind speed and direction vector of a three-dimensional can be calculated by formula (1)

${\stackrel{\→}{V}}_{\mathrm{xyz}}={\stackrel{\→}{V}}_{\mathrm{xy}}+{\stackrel{\→}{V}}_{\mathrm{yz}}---\left(1\right)$

In the formula:

The wind speed and direction of a three-dimensional of expression,

Represent this projection of three-dimensional wind speed and direction on the XY plane, Represent this projection of three-dimensional wind speed and direction on the YZ plane.

From the above-mentioned relation formula, we can draw as drawing a conclusion, as long as can detect the three-dimensional projection of wind speed and direction on the XY plane respectively

And the projection on the YZ plane

Utilize formula (1) just can obtain the wind speed and direction of a three-dimensional then, thus can become to detect two wind speed and directions on the mutual vertical plane simultaneously with detecting three-dimensional wind speed and direction PROBLEM DECOMPOSITION, and then carry out the problem that vector adds computing.According to above-mentioned conclusion, at first consider to solve the wind speed and direction problem on the some planes of vision-based detection among the present invention.

Consider the convenience that video is observed, will represent among the present invention in the visual segment set of wind speed and direction in one plane; Measuring wind and wind direction are made of two parts, 3, two on the axle that measuring wind adopts vane 1, deceleration unit 2, connect vane and deceleration unit is made up of the pointer of obvious color characteristic and fixed connecting rod 5 etc., on the input shaft 3 that two pointers are separately fixed at deceleration unit and the output shaft 4; Measure wind direction and partly adopt compositions such as weathercock 8, wind azimuth piece 6, coupling shaft 7, wind azimuth piece 6 tops scribble obvious color, so that machine energy quick identification; A deep hole is arranged on coupling shaft 7, the diameter in hole is identical with the external diameter of fixed connecting rod 5, fixed connecting rod 5 and coupling shaft 7 are on same central axis, in a deep hole on the fixed connecting rod 5 insertion coupling shafts 7, the detecting unit of wind speed and the detecting unit of wind direction are integrated, the wind azimuth piece that has guaranteed two pointers that obvious color characteristic arranged and obvious color characteristic arranged basically in one plane, as shown in Figure 3; Vision sensor 10 is fixed on the deceleration unit 2 by connecting link 9, the optics camera part of vision sensor 10 down, deceleration unit 2 and wind azimuth piece 6 are all in the visual range of vision sensor 10, by the taken video image of vision sensor 10 as shown in Figure 5, axle 3 the centers of deceleration unit at video image.

Then we investigate with the perpendicular plane of surface level on the measurement of wind speed and direction, the i.e. measurement of the wind speed and direction on YZ (or at XY) plane, in this patent, adopted the YZ plane, we will rotate 90 ° of angles with the same wind speed wind direction sensor on the above-mentioned measured X Y plane, with the centreline configuration of the main shaft 7 of two wind direction part detecting units on the XZ plane, wind speed and direction on the sensor measurement surface level (XY plane), wind speed and direction on the sensor measurement vertical plane (YZ plane), form one and can measure three-dimensional wind speed wind direction sensor, its structure as shown in Figure 5.

The corner that has adopted two vision sensors to detect weathercock on XY plane and the YZ plane and pointer respectively among Fig. 5 obtains its wind speed and direction information on plane separately, calculates the wind speed and direction data on the projecting plane separately then respectively as stated above respectively.Can realize the detection of tri-dimensional wind speed wind direction though adopt two vision sensors, but from the strict sense, the detection that requires synchronous coordination ground that two vision sensors are finished on the plane separately simultaneously is a difficult thing, so-called synchronous coordination is the sampling instant unanimity that will guarantee two detections on the plane, have any problem if the inconsistent words of sampling instant are carried out three-dimensional instantaneous wind speed wind direction for high precision, adopt two vision sensors can increase production cost and maintenance difficulties simultaneously.Therefore how to adopt a vision sensor to obtain the weathercock and the corner information of pointer on XY plane and the YZ plane simultaneously, so not only can definitely guarantee to detect the consistance in sampling time, the while also can reduce production costs and maintenance difficulties.Omnibearing vision sensor can provide solution for this demand, the corner that detects weathercock on XY plane and the YZ plane and pointer simultaneously by an omnibearing vision sensor obtains its wind speed and direction information on plane separately, as shown in Figure 9, detect the corner of weathercock and pointer on two mutual vertical planes with this method.For the ease of understanding, this method quite with the corner that detects weathercock and pointer on two mutual vertical planes with angle of two camera angle mounts respectively, as shown in figure 10.

The demarcation of the wind speed wind direction sensor of described three-dimensional, we can realize that also the process that promptly realizes the demarcation of a tri-dimensional wind speed wind direction sensor is that its demarcation that is decomposed into two two-D wind speed wind direction sensors is realized by the demarcation on each detection plane.

Beneficial effect of the present invention mainly shows: 1, visual and integrated design, image recognition, the automatic gauge by the tri-dimensional wind speed wind direction sensor calculates means such as judgement, improves the precision of measuring wind wind direction in resolution that improves the tri-dimensional wind speed wind direction measurement and range extension scope; 2, alleviate the difficulty of installation, adjustment, maintenance and the error calibrating of tri-dimensional wind speed wind direction sensor; 3, accurately, sensitive, reliably and with long-term, wide-range, low cost, high-quality finish the measurement and the signal output of tri-dimensional wind speed wind direction; 4, realized with no paper, the digitizing of metering process of robotization, recording process of measuring process and the networking that detects sensing, also can make the tester pass through the video image of the wind speed and direction of long-range direct labor observation site simultaneously.

Description of drawings

Fig. 1 is the structural representation of planar measuring wind speed sensor;

Fig. 2 is the structural representation of planar wind direction survey sensor;

Fig. 3 is the structural representation of planar wind speed and direction survey sensor;

Fig. 4 is the structural representation based on computer vision wind speed and direction survey sensor;

Fig. 5 for adopt two vision sensors based on Computerized 3 D visual wind speed wind direction sensor synoptic diagram;

Fig. 6 is the structural representation of omnibearing vision sensor;

Fig. 7 is the optical schematic diagram of omnibearing vision sensor;

Fig. 8 is the skeleton view schematic diagram of omnibearing vision sensor;

Fig. 9 is the structural representation based on the tri-dimensional wind speed wind direction sensor of omni-directional visual;

Figure 10 is that two vision sensors of employing realize being equivalent to the structural representation based on the tri-dimensional wind speed wind direction sensor of omni-directional visual;

Figure 11 is the structural representation of the planar measuring wind speed sensor of employing epicyclic reduction gear of planetary type;

Figure 12 is the structural representation of the planar wind speed and direction survey sensor of employing epicyclic reduction gear of planetary type;

Figure 13 for the wind speed and direction vector of a three-dimensional of expression and with the graph of a relation of the wind speed and direction vector of two dimension;

Figure 14 is the 8 video figure that show weathercocks and pointer on the skeleton view of omnibearing vision sensor;

Figure 15 is based on the embedded system hardware block diagram that adopts in the omni-directional visual tri-dimensional wind speed wind direction sensor.

Embodiment

Below in conjunction with accompanying drawing the present invention is further described.

With reference to Fig. 1～Figure 15, a kind of tri-dimensional wind speed wind direction measuring apparatus based on omni-directional visual, comprise support, vane 1, reducing gear 2, fixed connecting rod 5, weathercock 8, wind azimuth piece 6, vision sensor 10 and detection wind speed and direction microprocessor, on the horizontal direction of support and vertical direction, vane is installed all, reducing gear, fixed connecting rod, weathercock and wind azimuth piece, described vision sensor 10 is rack-mount, described vane 1 is fixedlyed connected with input shaft 3 upper ends of reducing gear, the lower end of the input shaft 3 of described reducing gear is socketed in the upper end of fixed connecting rod 5, described weathercock 8 is sleeved on the coupling shaft 7, described coupling shaft 7 is fixedlyed connected with fixed connecting rod 5 lower ends, wind azimuth piece 6 is installed in the end of described weathercock 8, the height of the upper end of described wind azimuth piece 6 and described reducing gear 2 are positioned at same plane, on the input shaft 3 of reducing gear and output shaft 4, pointer is installed respectively, described two pointers, the top of wind azimuth piece 6 is provided with the marker color of setting, described vision sensor 10 is an omnibearing vision sensor, comprise evagination catadioptric minute surface, in order to the dark circles cone that prevents that anaclasis and light are saturated, transparent cylinder and the camera that is used to take imaging body on the evagination mirror surface, described evagination catadioptric minute surface is positioned at the top of transparent cylinder, evagination catadioptric minute surface down, the dark circles cone is fixed on the bottom center of evagination catadioptric minute surface, and described camera facing to evagination catadioptric minute surface up; The visual range of described vision sensor 10 comprises the plane, reducing gear place of horizontal direction and the plane, reducing gear place of vertical direction; Described detection wind speed and direction comprises with microprocessor: the view data read module is used to read vision sensor and passes the video image information of coming; Detection range is cut apart module, and the comprehensive video information that is used for obtaining from omnibearing vision sensor is divided into horizontal direction video and vertical direction video, the corresponding XY of horizontal direction plane, the corresponding YZ of vertical direction plane; The color space conversion module is used for the screen image is transformed into yuv space from rgb color space; The corner computing module, be used to calculate two pointers on described XY plane and YZ plane and the corner of wind azimuth piece, video image is converted into binary image, default wind azimuth piece and the fulcrum of two pointers on binary image, the transverse axis of visual plane is the north-south, the longitudinal axis is an East and West direction, the wind azimuth piece fulcrum that will unroll rotates when wind direction changes, after vane is subjected to wind-force, there is the pointer of obvious color characteristic this central point that also can unroll to rotate, the center of wind azimuth piece and the pitch angle of the straight line between the fulcrum are the corner of wind azimuth piece, and the center of pointer and the pitch angle of the straight line between the fulcrum are the corner of pointer; The wind speed detection module, be used for the wind speed on the detection level two dimensional surface, set the inspection process time of every two field picture, the angle of pointer on input shaft in the observation reducing gear and the output shaft, when gentle breeze, N comes the angle of vane rotation in the representation unit time, i.e. the angle of pointer rotation on the input shaft, and the relation between the angle that wind speed and vane rotate is represented by formula (2);

V＝a+bN+cN ² (2)

In the following formula: V represents wind speed, is unit with the meter per second, the angle of vane rotation in the N representation unit time, and a, b, c represent wind-tunnel demarcation constant;

When high wind, the reduction gear ratio of reducing gear is n, and the relation between the angle of the output shaft rotation of wind speed and reducing gear is represented by formula (3):

V＝a+bN/n+c(N/n) ² (3)

In the following formula: V represents wind speed, is unit with the meter per second, the angle of the output shaft of reducing gear rotation in the N/n representation unit time; A, b, c represent wind-tunnel demarcation constant;

The wind direction detection module is used to detect the wind direction on described XY plane and YZ plane, sets the inspection process time of every two field picture, the angle of observation weathervane, and the centre position of writing down its hunting range, each two field picture obtains the corner of weathercock

The wind speed and direction vector of above-mentioned two two dimensions that obtain is carried out the wind speed and direction vector that vector adds the three-dimensional that obtains, calculates by formula (1),

${\stackrel{\→}{V}}_{\mathrm{xyz}}={\stackrel{\→}{V}}_{\mathrm{xy}}+{\stackrel{\→}{V}}_{\mathrm{yz}}---\left(1\right)$

In the following formula:

The wind speed and direction of a three-dimensional of expression,

Represent this projection of three-dimensional wind speed and direction on the XY plane,

Represent this projection of three-dimensional wind speed and direction on the YZ plane.

Described reducing gear comprises pinion wheel and gear wheel, and described input shaft connects with pinion wheel, described pinion wheel and gear wheel engagement, and described gear wheel connects with output shaft.The top of described two pointers, wind azimuth piece 6 scribbles fluorescent material.Installation guide pin on the described coupling shaft 7.

Present embodiment mainly is made of wind speed and direction sensing unit, video image acquisition and the processing unit of the two dimensional surface of two mutual vertical planes, network communication unit etc.;

Described wind speed and direction sensing unit, be used for the wind speed and direction on the detection level two dimensional surface, comprise wind speed detecting unit, wind direction detecting unit, the installation site of two wind speed and direction sensing units is in 90 °, and visual plane is facing to the point of crossing of two planar central axis;

Described wind speed detecting unit, be used for the wind speed on the detection level two dimensional surface, 3, two on the axle that measuring wind adopts vane 1, deceleration unit 2, connect vane and deceleration unit is made up of the pointer of obvious color characteristic and fixed connecting rod 5 etc., on the input shaft 3 that two pointers are separately fixed at deceleration unit and the output shaft 4;

Described wind direction detecting unit is used for the wind direction on the detection level two dimensional surface, measures wind direction and partly adopts compositions such as weathercock 8, wind azimuth piece 6, coupling shaft 7, and wind azimuth piece 6 tops scribble obvious color, so that machine energy quick identification; A deep hole is arranged on coupling shaft 7, the diameter in hole is identical with the external diameter of fixed connecting rod 5, fixed connecting rod 5 and coupling shaft 7 are on same central axis, in a deep hole on the fixed connecting rod 5 insertion coupling shafts 7, the detecting unit of wind speed and the detecting unit of wind direction are integrated, the wind azimuth piece that has guaranteed two pointers that obvious color characteristic arranged and obvious color characteristic arranged basically in one plane, as shown in Figure 3;

Described video image acquisition and processing unit, be used to obtain the video information of expression wind speed and direction on wind speed detecting unit, the wind direction detecting unit, vision sensor 10 is fixed on the deceleration unit 2 by connecting link 9, the optics camera part of vision sensor 10 down, deceleration unit 2 and wind azimuth piece 6 are all in the visual range of vision sensor 10, by the taken video image of vision sensor 10 as shown in Figure 5, axle 3 the centers of deceleration unit at video image.

Described wind speed detecting unit, be used to detect the rotating speed on the axle 3 of vane and deceleration unit,, consider the processing times such as Computer Processing, image recognition owing to adopt video observation, the inspection process time of generally getting every two field picture is at 10～15ms, promptly about 5 frame/seconds; If come the representation unit angle that vane rotates in the time with N, the relation between the angle of wind speed and vane rotation can be represented by formula (2) so;

V＝a+bN+cN ² (2)

In the formula: V represents wind speed, and (m/s) is unit with meter per second, gets 1 decimal; The angle of vane rotation in the N representation unit time; A, b, c represent wind-tunnel demarcation constant.

The measurement range of having stipulated wind speed in " surface weather observation standard " is 0～60m/s, scope for wide like this measuring wind speed, promptly to guarantee measuring accuracy in different wind speed range, make again and in different wind speed range, be convenient to video observation, among the present invention by the input shaft in the video observation deceleration unit 2 respectively and the rotating speed of output shaft, when gentle breeze,, therefore observe the input shaft rotational speed in the deceleration unit 2 because the rotating speed of the output shaft in the deceleration unit 2 is very slow; When high wind, because the input shaft rotational speed in the deceleration unit 2 is very fast, almost do not observe input shaft rotational speed in the deceleration unit 2 by video, therefore observe the rotating speed of the output shaft in the deceleration unit 2; Among the present invention the reduction gear ratio in the deceleration unit 2 is designed to n, the relation between the angle of the rotation of the output shaft in wind speed and the deceleration unit 2 can be represented by formula (3) so;

V＝a+bN/n+c(N/n) ² (3)

In the formula: V represents wind speed, and (m/s) is unit with meter per second, gets 1 decimal; The angle of the output shaft rotation in the N/n representation unit time in the deceleration unit 2; A, b, c represent wind-tunnel demarcation constant.

During design reduction gear ratio n, consider that maximum measuring wind is 60m/s and Computer Processing image time was 5 frame/seconds, in maximum measuring wind is that the angle that the output shaft in the deceleration unit 2 rotates under the 60m/s state is no more than 360 °/frame, promptly 1800 °/second (＜5 circle/second); Under this constraint condition, calculate the correct angle of telling the rotation of the output shaft in the deceleration unit 2 in the video image of function.

Described deceleration unit 2 is used for the rotating speed on the axle 3 of connection vane and deceleration unit is passed through deceleration unit 2 reductions of speed, behind above-mentioned designed good reduction gear ratio n, adopts two gears to slow down.

The described pointer that obvious color characteristic is arranged also can photograph the rotation of pointer in order to make vision sensor 10 under the insufficient light situations such as night, scribbles fluorescent material on the pointer.

The described pointer that obvious color characteristic is arranged, one is placed on the input rotation axis, and one is placed on the output rotation axis; Also can be directly with fluorescent material be plotted on the driving gear with the shape of pointer and driven gear on, described driving gear is to be connected with the axle 3 that is connected vane and deceleration unit, and described driven gear is connected with a joggle, is installed in the gear wheel on the take-off (propeller) shaft with driving gear.

Described wind direction detecting unit, constitute by empennage, sensing bar, balance bob, main shaft etc., to point to bar, being made of one of balance bob among the present invention, keep being similar to the streamlined of airframe, form body parts 8, body parts 8 and empennage 6 are connected to form the weathercock of a similar aircraft shape, have a through hole at the center of gravity place of body parts 8, main shaft 7 inserts in the through hole of body parts 8, is connected with its realization rolling pair, weathercock can rotate freely around main shaft 7 like this, as shown in Figure 2; Wind direction part detecting unit will satisfy following three requirements: 1) rotating shaft friction force is little, and starting wind velocity is little; 2) whole machine balancing is good; 3) has good dynamic perfromance; Main shaft 5 concentrics of the detecting unit of main shaft 7 and wind speed, have a deep hole on the main shaft 7, the diameter of deep hole is identical with the diameter of the main shaft 5 of the detecting unit of wind speed, during with wind direction part detecting unit and the assembling of wind speed part detecting unit, at first two unit are assembled separately, main shaft 5 with the detecting unit of wind speed is inserted in the main shaft 7 of wind direction part detecting unit then, and in one plane with the center line of the axial line of input shaft in the deceleration unit 2 of wind speed part detecting unit and output shaft and guide bar 11, then carry out fastening, as shown in Figure 3.

During on-the-spot the installation, correct in order to guarantee the two-D wind speed wind direction sensor installation direction on surface level, make the S direction of sensor point to accurately Due South to, by changing the wind speed wind direction sensor installation direction, make guide bar 11 indications direction and compass definite Due South to consistent.The main body of wind speed wind direction sensor must be perpendicular to surface level when wind speed wind direction sensor was installed.

The described wind azimuth piece that obvious color characteristic is arranged also can photograph the rotation of wind azimuth piece in order to make vision sensor 10 under the insufficient light situations such as night, and the top of wind azimuth piece scribbles red fluorescence material;

Described video image acquisition and processing unit are made up of vision sensor, embedded system; Energy when the power supply of described video image acquisition and processing unit also can adopt the vane rotation drives generator charging circuit is constantly charged, and is linked by normal charge circuit and accumulator, produces stabilized voltage supply by voltage stabilizer again.

It is to pass through the angle position that the video image that obtains is handled up till now that the rotational angle of described wind azimuth piece and the pointer that obvious color characteristic is arranged detects, for the simplified image computing, colour planning with wind azimuth piece and the pointer that obvious color characteristic is arranged in this patent becomes red, in order under the not enough situation of illumination brightness such as night, also to obtain video image preferably, we are with the wind azimuth piece and have the pointer of obvious color characteristic to spray with red fluorescence powder, and so Shang Mian detection just can be reduced to the corner of red fluorescence part on some planes and detect problem; The video image that reads from camera head is a rgb color space, rgb color space is responsive to brightness ratio, particularly the wind speed and direction survey sensor that uses in the open air should and not cause mistake to measure by the brightness variation, here pass through the color space conversion module with of the conversion of image rgb color space, for obtaining the wind azimuth piece and having the pointer travel of obvious color characteristic to do homework to yuv space;

The YUV color model is a kind of color model commonly used, its essential characteristic is that luminance signal is separated with color signal, Y represents brightness, and U, V are two chrominance components, the expression aberration, generally be blue, red relative value is because human eye is to the variation comparison change in color sensitivity of brightness, therefore, the shared bandwidth of the value of Y component provides more than or equal to linear dependence between shared bandwidth YUV of chrominance component and the RGB model such as formula (4) in the YUV model

Y＝0.301*R+0.586*G+0.113*B

U＝-0.301*R-0.586*G+0.887*B

V＝0.699*R-0.586*G-0.113*B (4)

Because we only are concerned about the wind azimuth piece and the corner of the pointer of obvious color characteristic are arranged, as long as calculate the value of red component, obtain corresponding binary image then when therefore above-mentioned formula calculates in the wind speed and direction of two dimension is measured.

Described binary image, we only consider the detection of the wind speed and direction on surface level here, and it is identical that the wind speed and direction on vertical plane detects principle, and red component becomes white colour after image binaryzation is handled, and remainder all becomes black color; In system initialisation phase, program is prefabricated wind azimuth piece and the fulcrum of pointer on binary image of obvious color characteristic arranged, will unroll this central point of wind azimuth piece rotates when wind direction changes, same when vane is subjected to wind-force after, this central point rotation of also can unrolling of the pointer of obvious color characteristic is arranged; Among the present invention the optic centre of vision sensor is arranged on the main shaft 5 of detecting unit of wind speed and the main shaft 7 of wind direction part detecting unit, the transverse axis of visual plane is the north-south, the longitudinal axis is an East and West direction, as shown in Figure 5, the taken video image of Fig. 4 is shown in the figure of the upper part of Fig. 5, when 30 ° of norths by west take place when wind direction to be changed to from positive north such as and vane have the pointer generation corner of obvious color characteristic to change after being subjected to wind-force, shown in the figure of the lower part of Fig. 5, we draw straight line from the center of the wind azimuth piece of binaryzation and the fulcrum of wind azimuth piece, present wind direction just can be identified in angle of inclination according to this straight line and north-south, we draw straight line from the center of the pointer of binaryzation and the fulcrum of this pointer as a same reason, according to the present Due South of this straight line to angle and the previous frame image in this straight line and Due South to the difference of angle obtain a two field picture angle that pointer rotated in the time interval, such as us the direction that vane is subjected to rotating behind the wind-force is decided to be clockwise direction, so among the figure of the lower part of Fig. 5 among the figure of pointer and the upper part of Fig. 5 pointer compare and rotated 45 °, can carry out the metering of wind direction and wind velocity according to above-mentioned image recognition with calculating.

Then we investigate with the perpendicular plane of surface level on the measurement of wind speed and direction, the i.e. measurement of the wind speed and direction on YZ (or at XY) plane, in this patent, adopted the YZ plane, we will rotate 90 ° of angles with the same wind speed wind direction sensor on the above-mentioned measured X Y plane, with the centreline configuration of the main shaft 7 of two wind direction part detecting units on the XZ plane, wind speed and direction on the sensor measurement surface level (XY plane), wind speed and direction on the sensor measurement vertical plane (YZ plane), form one and can measure three-dimensional wind speed wind direction sensor, its structure as shown in Figure 5.

The corner that has adopted two vision sensors to detect weathercock on XY plane and the YZ plane and pointer respectively among Fig. 5 obtains its wind speed and direction information on plane separately, calculates the wind speed and direction data on the projecting plane separately then respectively as stated above respectively.Can realize the detection of tri-dimensional wind speed wind direction though adopt two vision sensors, but from the strict sense, the detection that requires synchronous coordination ground that two vision sensors are finished on the plane separately simultaneously is a difficult thing, so-called synchronous coordination is the sampling instant unanimity that will guarantee two detections on the plane, have any problem if the inconsistent words of sampling instant are carried out three-dimensional instantaneous wind speed wind direction for high precision, adopt two vision sensors can increase production cost and maintenance difficulties simultaneously.Therefore how to adopt a vision sensor to obtain the weathercock and the corner information of pointer on XY plane and the YZ plane simultaneously, so not only can definitely guarantee to detect the consistance in sampling time, the while also can reduce production costs and maintenance difficulties.Omnibearing vision sensor can provide solution for this demand, the corner that detects weathercock on XY plane and the YZ plane and pointer simultaneously by an omnibearing vision sensor obtains its wind speed and direction information on plane separately, as shown in Figure 9, detect the corner of weathercock and pointer on two mutual vertical planes with this method.For the ease of understanding, this method quite with the corner that detects weathercock and pointer on two mutual vertical planes with angle of two camera angle mounts respectively, as shown in figure 10.

Described omnibearing vision sensor (ODVS), the manufacturing technology scheme of its opticator are mainly constituted by vertically downward catadioptric mirror with towards last camera.It is concrete that to constitute be to be fixed on bottom by the cylinder of transparent resin or glass by the vision sensor that collector lens and CCD constitute, the top of cylinder is fixed with the catadioptric mirror of a downward deep camber, the dark circles cone that between catadioptric mirror and collector lens, has a diameter to diminish gradually, this coniform body is fixed on the middle part of catadioptric mirror, and the pyramidal purpose of dark circles is to cause light in cylinder inside light reflex saturated and that produce by the cylinder body wall in order to prevent superfluous light from injecting.Fig. 7 is the schematic diagram of the optical system of expression omnibearing imaging device of the present invention.

The principle of work of omnibearing vision sensor is: enter the light at the center of hyperbolic mirror, reflect towards its virtual focus according to bi-curved minute surface characteristic.Material picture reflexes to imaging in the collector lens through hyperbolic mirror, a some P on this imaging plane (x, y) corresponding the coordinate A of a point spatially in kind (X, Y, Z).

11-hyperbolic curve face mirror among Fig. 7,12-incident ray, the focus Om (0 of 13-hyperbolic mirror, 0, c), the virtual focus of 14-hyperbolic mirror is camera center O c (0,0 ,-c), the 15-reflection ray, the 16-imaging plane, the volume coordinate A of 17-material picture (X, Y, Z), 18-incides the volume coordinate of the image on the hyperboloid minute surface, 19-be reflected in some P on the imaging plane (x, y).

The optical system that hyperbolic mirror shown in Fig. 7 constitutes can be represented by following 5 equatioies;

((X ²+Y ²)/a ²)-(Z ²/b ²)＝-1 (Z＞0) (5)

$c=\sqrt{a^2+b^2}---\left(6\right)$

β＝tan ^-1(Y/X) (7)

α＝tan ^-1[(b ²+c ²)sinγ-2bc]/(b ²+c ²)cosγ (8)

$\mathrm{\&gamma;}={\tan }^{-1}[f/\sqrt{({\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="C2007100711510028H1.png"\; state="\{\{state\}\}">X</figure-callout>}}^2+Y^2)}]$ (9)

X in the formula, Y, Z representation space coordinate, c represents the focus of hyperbolic mirror, and 2c represents two distances between the focus, a, b is respectively the real axis of hyperbolic mirror and the length of the imaginary axis, β represents the angle-position angle of incident ray on the XY plane, and α represents the angle-angle of depression of incident ray on the XZ plane, and f represents the distance of imaging plane to the virtual focus of hyperbolic mirror.

Described omnibearing vision sensor structure as shown in Figure 6.Omnibearing vision sensor can be realized 360 ° of visual ranges in the horizontal direction, realizes 90 ° of visual ranges in vertical direction.

Further, 360 ° of comprehensive principles of making a video recording are described, a point A (X on the space, Y, Z) through catadioptric 2 direct reflections to the lens 6 to should have a subpoint P (x, y), the light of scioptics 6 becomes directional light and projects CCD (CMOS) vision sensor 5, microprocessor 7 reads in this ring-type image by video interface, adopts software that this ring-type image is carried out skeleton view and launches to obtain the perspective video image cut apart according to the visual angle on XY plane and the YZ plane.

For skeleton view there being one understand preferably, as shown in Figure 8, here our straight line Om-G that to draw a distance from bi-curved real focus Om to perspective projection true origin G be D, with the perpendicular plane of this Om-G as the perspective projection plane, from an A (X, Y, Z) light towards focus Om has an intersection point P (X on the perspective projection plane, Y, Z), if with this intersection point P (X, Y, Z) be updated to formula (10), (x, y) point therefore can be by trying to achieve each point on the perspective projection plane from above-mentioned relation for the P on imaging plane that just can easily ask (11).

$x=\frac{\mathrm{Xf}(b^2-c^2)}{({\mathrm{<figure-callout\; id="2"\; label="b"\; filenames="C2007100711510028H1.png"\; state="\{\{state\}\}">b</figure-callout>}}^2+c^2)Z-2\mathrm{<figure-callout\; id="2"\; label="bc\; X"\; filenames="C2007100711510028H1.png"\; state="\{\{state\}\}">bc</figure-callout>}\sqrt{X^{}}\sqrt{{}^2+{\mathrm{<figure-callout\; id="2"\; label="Y"\; filenames="C2007100711510028H1.png"\; state="\{\{state\}\}">Y</figure-callout>}}^2+Z^2}}---\left(10\right)$

$y=\frac{\mathrm{Yf}(b^2-c^2)}{({\mathrm{<figure-callout\; id="2"\; label="b"\; filenames="C2007100711510028H1.png"\; state="\{\{state\}\}">b</figure-callout>}}^2+c^2)Z-2\mathrm{<figure-callout\; id="2"\; label="bc\; X"\; filenames="C2007100711510028H1.png"\; state="\{\{state\}\}">bc</figure-callout>}\sqrt{X^{}}\sqrt{{}^2+{\mathrm{<figure-callout\; id="2"\; label="Y"\; filenames="C2007100711510028H1.png"\; state="\{\{state\}\}">Y</figure-callout>}}^2+Z^2}}---\left(11\right)$

As shown in the figure, the optical axis of hyperbolic mirror is the Z axle, camera is towards the positive dirction setting of Z axle, imaging plane is the input picture of camera, we are with the intersection point g of the optical axis of hyperbolic mirror and the imaging plane initial point as imaging plane, its coordinate is x, y, and x axle, y axle are consistent with the length limit of sensitive chip in the camera respectively, so the xy plane parallel of the X-axis of Om-XYZ coordinate system and imaging plane coordinate system.

The perspective projection plane is and the perpendicular plane of Om-G connecting line, with the binary plane coordinate system i of G point as initial point, j, wherein the i axle is and the parallel plane transverse axis of XY, the j axle is the longitudinal axis with i axle and Om-G axle right angle intersection, distance that will be from the perspective projection plane to bi-curved focus Om is as D, and the banner on definition perspective projection plane is W, and depth is H.Because the i axle is and the XY plane parallel, vertical with the Z axle again, therefore resulting perspective projection plane is to be that the coordinate center is gone up with XY plane (surface level) and rotated an angle with the G point, and this angle is exactly the angle of Om-G connecting line and Z axle.

Here we with Om-G as the transform center axle, point G is as the transform center point, represent the transform center axle with β (angle-position angle of incident ray on the XY plane), γ (angle of the surface level of incident ray and hyperboloid focus) and distance D (the perspective projection plane is to the distance of bi-curved focus O m), the β angle is in 0 °～360 ° scopes, can calculate by formula (7), equally also can represent with formula (12):

β＝tan ^-1(Y/X)＝tan ^-1(y/x) (12)

Here the β angle is the angle of incident ray projection on the XY plane, with the Z axle be initial point (initial point of polar coordinate system) counterclockwise, in 0 °～360 ° scopes (this is the horizontal field of view scope of omni-directional visual); The γ angle is the angle of the surface level of incident ray and hyperboloid focus, shown in formula (9), this angle is relevant with the hyperboloid focal position with volume coordinate, if on the hyperboloid focus, make a surface level, be exactly the angle of giving surface level and Om-G axle so, here with volume coordinate Z point more than the hyperboloid focus as [+], be called the elevation angle, the conduct [-] of Z point below the hyperboloid focus is called the angle of depression; The γ angular range just has different γ angular range (this is the vertical field of view scope of omni-directional visual) according to different minute surface designs between-90 °～+ 90 °;

Distance D is determined according to the air line distance of perspective projection plane and hyperboloid focus, in general, the long more scenery of distance D is more little, distance D flash thing more is big more, omnibearing vision sensor is mainly used to observe the weathercock on XY plane and the YZ plane and the corner of pointer among the present invention, therefore if the corner that guarantees weathercock and pointer on two planes all in the scope on perspective projection plane, the scenery of weathercock and pointer is the bigger the better, thus we with the distance D value be from the hyperboloid focus to plane of vision on the distance of central point of main shaft 7; Banner W, the depth H on perspective projection plane can be determined by needs, when determining banner W, depth H size, at first to determine the horizontal vertical ratio of display window, the maximum magnitude of observing in this patent is exactly the weathercock angle range on the plane separately, rounded, as shown in Figure 14, therefore as long as determined perspective projection plane can cover this circle and just can meet the demands, so the horizontal vertical ratio of display window can value be 1: 1, banner W, depth H are identical with circular outer diameter; Owing to be the size of representing banner W, depth H with pixel in computing machine, therefore to determine the pixel value of banner W, depth H, therefore can determine the pixel value of banner W, depth H with reference to the track pixel value of weathercock corner.

Coordinate points P by the perspective projection plane (i, j) ask A in the three-dimensional of space (X, Y Z), so just can obtain the transformational relation of projection plane and space three-dimensional, and conversion relational expression is represented with formula (13):

X＝R*cosβ-i*sinβ

Y＝R*sinβ+i*cosβ

Z＝D*sinγ-j*cosγ

(R＝D*cosγ+j*sinγ) (13)

In the formula: D is the distance of perspective projection plane to bi-curved focus Om, the β angle is the angle of incident ray projection on the XY plane, the γ angle is the angle of the surface level of incident ray and hyperboloid focus, the i axle is and the parallel plane transverse axis of XY, the j axle is and the longitudinal axis of i axle and Om-G axle right angle intersection that the direction of i axle and j axle is by shown in the accompanying drawing 8;

(Z) some substitution formula (10) and (11) just can be tried to achieve coordinate points P (i, j) corresponding P (x, y) point on imaging plane with the perspective projection plane for X, Y with the above-mentioned P that tries to achieve with formula (13).So just can try to achieve comprehensive skeleton view, that is to say the corresponding relation of the coordinate system on the coordinate system set up on the imaging plane and perspective projection plane by the image information that on imaging plane, obtains.Such corresponding relation has been arranged, the image information of certain point that we just can obtain from imaging plane; By the corresponding relation of two coordinate systems, the image information of this point correctly is presented on the corresponding position, perspective projection plane.

According to two above-mentioned perspective projection planes of representing the corner of weathercock on XY plane and the YZ plane and pointer respectively, ensuing problem is the wind speed metering of carrying out on the plane separately and wind direction metering; At first we consider wind speed metering and wind direction metering on surface level;

Wind speed metering on the described surface level, according to " surface weather observation standard " requirement, calculating maximum wind velocity (maximum wind speed) is the 10 minutes mean wind speed values of maximum to occur in certain period; Calculating extreme wind speed (extreme wind speed) is the maximum instantaneous power value to occur in certain period.In automatic weather station, instantaneous wind speed is meant the mean wind speed in 3 seconds; Calculate day maximum wind velocity and be from the wind speed that intercepts 10 minutes line segments at 20～20 o'clock () the wind speed record respectively every day and compare, select maximal value as 10 minutes this days maximum wind velocity, and the corresponding wind direction of picking, indicate the termination time of this period, the same day, maximum wind velocity occurred twice or above when identical, can appoint and choose wherein 1 time wind direction and termination time.Two minutes, ten minutes mean wind direction wind speed of requirement system output; The output strong wind is reported to the police, boat danger newspaper strong wind is reported to the police and sounded all clear wind direction, wind speed and time of occurrence thereof send alerting signal; Output 20 o'clock every days day extreme wind speed, maximum wind velocity and corresponding wind direction, time of occurrence, day total, per day, and can show various instantaneous values and mean value at any time, store 24 hours wind direction and wind velocity records;

The Linearity of supposing air velocity transducer is relatively good, we can calculate in the following manner, as the every circle fetch of vane is 2.5, carry out speed change through 10: 1 reduction gear, per 10 circles are equivalent to 25 meters, 360 ° of the every rotations of fetch (pointer), be equivalent to 25 meters/60 seconds=0.4M/S in a minute, 25 meters/360 °=0.0694M/ degree when being equivalent to 1 ° of the every rotation of fetch, we can add up the angle that fetch (pointer) was rotated in one minute, be multiplied by the 0.0694M/ degree then, obtain the mean wind speed in a minute; If the Computer Processing image time was decided to be for 5 frame/seconds, needs were handled 300 frame video images in one minute, therefore we can add up the angle of being rotated in fetch (pointer) the experience 300 frame video image times of processing, are multiplied by the 0.0694M/ degree then, obtain the mean wind speed in a minute;

The wind speed and direction of calculated level face (being the XY plane) at first, in order to require the maximum instantaneous power value, instantaneous wind speed is meant the mean wind speed in 3 seconds, if the sampling interval of video image was 5 frame/seconds, 3 times in second were equivalent to the sampling time of 15 frame video images so, accumulative total fetch (pointer) experience is handled the angle of being rotated in 15 frame video image times, with the N/n in this angle value substitution formula (2), tries to achieve instantaneous wind speed V then _Xy3And the record moment at that time and instantaneous wind speed V that should be constantly (t), _Xy3(t); Calculating extreme wind speed (extreme wind speed) is the maximum instantaneous power value to occur in certain period, such as the maximum instantaneous power value V that wants to obtain in the time period 21 o'clock to 22 o'clock night _{Xy-extreme-wind-speed}(t), therefore can calculate by formula (14),

V _{xy-extreme-wind-speed}(t)＝max(V _xy3(21:00:03)，V _xy3(21:00:06)，......，V _xy3(22:00:00)) (14)

According to instantaneous wind speed V _Xy3(t) can try to achieve mean wind speed V in one minute by formula (15) _Xy(t),

$V_{\mathrm{xy}}\left(t\right)=\underset{t=1}{\overset{20}{\mathrm{\&Sigma;}}}{V}_{\mathrm{xy}3}(t-19)---\left(15\right)$

In the formula: V _Xy3(t) expression 3 seconds mean wind speed, V _Xy(t) one minute mean wind speed of expression.

The metering of described two minutes mean wind speeds, two minutes mean wind speeds can asking by formula (16),

$V_{\mathrm{xy}2}\left(t\right)=\frac{\underset{t=1}{\overset{2}{\mathrm{\&Sigma;}}}{V}_{\mathrm{xy}}(t-1)}{2}---\left(16\right)$

In the formula: V _Xy2(t) two minutes mean wind speeds of expression; V _Xy(t) mean wind speed in the expression current time try to achieve a minute;

The metering of described ten minutes mean wind speeds, ten minutes mean wind speeds can asking by formula (17),

$V_{\mathrm{xy}10}\left(t\right)=\frac{\underset{t=1}{\overset{10}{\mathrm{\&Sigma;}}}{V}_{\mathrm{xy}}(t-9)}{10}---\left(17\right)$

In the formula: V _Xy10(t) ten minutes mean wind speeds of expression; V _Xy(t) mean wind speed in the expression current time try to achieve a minute;

Described day maximum wind velocity, according to " surface weather observation standard " requirement, calculate day maximum wind velocity and be from the wind speed that intercepts 10 minutes line segments at 20～20 o'clock () the wind speed record respectively every day and compare, select maximal value as 10 minutes this days maximum wind velocity, and the corresponding wind direction of picking, indicate termination time of this period, the same day, maximum wind velocity occurred twice or above when identical, can appoint and choose wherein 1 time wind direction and termination time, therefore have computing formula (18) to calculate a day maximum wind velocity V _Xy10-max(t),

V _xy10-max(t)＝max(V _xy10(20:10)，V _xy10(20:20)，.....，V _xy10(20:00)) (18)

Above-mentioned data are all deposited to calculate a day every day () at 20～20 o'clock, such as being this August 8, spent 20 o'clock tonight after, calculating day is August 9.

The metering of described wind direction, according to " surface weather observation standard " requirement, observation weathervane 3 seconds, 2 minutes, 10 minutes, the centre position of writing down its hunting range, similar with the observation wind speed, we can obtain the corner of weathercock in each two field picture

If the sampling interval of video image was 5 frame/seconds, 3 times in second were equivalent to the sampling time of 15 frame video images so, and we can try to achieve the centre position of the hunting range of the weathercock in 3 seconds with formula (19),

In the formula:

Represent a two field picture apoplexy target corner,

The centre position of representing the hunting range of the weathercock in 3 seconds;

As a same reason, from

We can try to achieve the centre position of the hunting range of 2 minutes weathercocks very easily by formula (20),

(20)

In the formula:

The centre position of the hunting range of 2 minutes weathercocks of expression, The centre position of representing the hunting range of the weathercock in 3 seconds;

As a same reason, from

We can try to achieve the centre position of the hunting range of 10 minutes weathercocks very easily by formula (21),

In the formula:

The centre position of the hunting range of 2 minutes weathercocks of expression, The centre position of representing the hunting range of the weathercock in 10 minutes;

The metering of wind speed and direction on the described vertical plane (being the YZ plane), identical with wind speed and direction metering method on the surface level, adopt and above-mentioned same computing method, obtain V respectively _Yz3(t), V _Yz(t), V _Yz2(t), V _Yz10(t), V _Yz10-max(t),

Value.

Wind speed and direction variable on each above-mentioned plane is all stored in the time mode, owing to needed for 3 seconds, 2 minutes, the wind speed and direction variable of 10 minutes different times, six tables have been adopted among the present invention, three each wind speed and direction variables that table is a recording level face (XY plane) wherein, other three tables are each wind speed and direction variables of record vertical plane (YZ plane), the data storage project is shown in the table 1,3 seconds, 2 minutes, the interval difference of 10 minutes the wind speed and direction gauging table amount of falling into a trap start time, for 3 second the wind speed and direction gauging table in every day, will produce 28800 records automatically; In every day, will produce 720 records for 2 minutes wind speed and direction gauging tables automatically; In every day, will produce 144 records for 10 minutes wind speed and direction gauging tables automatically;

Calculate day	Measure the zero hour	Wind speed	Wind direction

For different output requirements, can remove to look into the corresponding table of this information, at output on 20 o'clock same day day extreme wind speed, maximum wind velocity and corresponding wind direction, time of occurrence, day add up to, per day, can realize showing at any time various instantaneous values and mean value, simultaneously six above-mentioned tables are backed up preservation, empty the record in the table.

The wind speed and direction vector metering of described three-dimensional can be carried out vector by formula (1) and add computing then according to the above-mentioned resulting data of each detection plane of gathering, and obtains the variable of the tri-dimensional wind speed wind direction in 3 seconds, 2 minutes, 10 minutes respectively,

${\stackrel{\&RightArrow;}{V}}_{\mathrm{xyz}}={\stackrel{\&RightArrow;}{V}}_{\mathrm{xy}}+{\stackrel{\&RightArrow;}{V}}_{\mathrm{yz}}---\left(1\right)$

In the formula:

The wind speed and direction of a three-dimensional of expression,

Represent this projection of three-dimensional wind speed and direction on the XY plane, Represent this projection of three-dimensional wind speed and direction on the YZ plane.Formula (1.1), (1.2) are the decomposition computation formulas of formula (1).

The demarcation of the wind speed wind direction sensor of described three-dimensional, we can realize that also the process that promptly realizes the demarcation of a tri-dimensional wind speed wind direction sensor is that its demarcation that is decomposed into two two-D wind speed wind direction sensors is realized by the demarcation on each detection plane.

Described embedded system, as shown in Figure 15, its main core is embedded microprocessor S3C2410X, is a 16/32 RISC embedded microprocessor based on the ARM920T kernel, and this processor designs for handheld device and high performance-price ratio, low-power consumption microcontroller.It has adopted the new bus architecture of a kind of AMBA of being called (Advanced Microcontroller Bus Architecture).The main resource of S3C2410X inside has memory management unit MMU, system administration manager, respectively is the instruction and data buffer memory of 16KB, lcd controller (STN﹠amp; TFT), NAND FLASH Boot Loader, 3 passage UART, 4 passage DMA, 4 PWM clocks, 1 internal clocking, 8 path 10s are ADC, touch screen interface, multimedia card interface, I2C and I2S bus interface, 2 usb host interfaces, 1 USB device interface, SD main interface, 2SPI interface, pll clock generator and general purpose I/O port etc.

Described embedded microprocessor S3C2410X inside comprises a memory management unit that is MMU, can realize the mapping of virtual memory space to amount of physical memory.Usually the program of embedded system leaves among the ROM/FLASH, program can access preservation behind the system cut-off, but ROM/FLASH compares with SDRAM, it is slow many that speed is wanted, and usually the aborted vector table is left among the RAM in the embedded system, utilize memory-mapped mechanism can solve this needs.

Described ROM/FLASH adopts the K9S1208VOM of the 64MB of Samsung.It can carry out 100,000 times program/erase, and data are preserved and reached 10 years, are used to loading operation system image and large-capacity data.

Described SDRAM is the K4S561632C that adopts Samsung, is used for needed data in operation system and the stored programme operational process, and it is the synchronous dram of 4M*16bit*4bank, and capacity is 32MB.Realize the position expansion with two K4S561632C, making data-bus width is 32bit.

Described embedded software system mainly comprises writing of the installation of transplanting, driver of operating system, ICP/IP protocol and user application etc.

Adopted Linux as embedded OS among the present invention, Linux develops from UNIX, inherited the most advantage of UNIX, the disclosed kernel source code of Linux makes it become present most popular operating system, and Linux can be from its hardware-software of application cutting, this is concerning towards very necessary based on this special requirement of the wind speed wind direction sensor of machine vision, here we are referred to as the customization operations system, and customization step is as follows: (1) writes plate base support package BSP; (2) each parts of cutting and configuration operation system, and revise corresponding configuration file; (3) compiling Kernel, assembly and BSP, generating run system image file; (4) image file is downloaded on the Target Board, debug.

Further, various information based on the wind speed wind direction sensor of machine vision are to transmit in the mode of packing data, transmission through WLAN (wireless local area network) by ICP/IP protocol, therefore under the operating system support, realize ICP/IP protocol, just need carry out task division, the realization of TCP/IP can be divided into 4 tasks realizes: 1. IP task, the reorganization that is mainly used to solve IP fragmentation; 2. the TCP incoming task is mainly used to handle the TCP message segment that receives; 3. TCP output task is mainly used to packing data, the transmission that will export; 4. TCP task of timer, being mainly used to provides clock for various time delay incidents (as the repeating transmission incident).

Further, need two USB interface in the tri-dimensional wind speed wind direction sensor based on omni-directional visual, one of them USB interface is that camera is connected with S3C2410X, another USB interface is that wireless network card is connected with S3C2410X, because S3C2410X self-carried USB principal and subordinate interface, do not need special USB chip support, as long as can carry out USB transmission data to its install driver.

Described USB driver comprises following several sections: (1) establishment equipment, create two parameter calls of equipment function band, and a parameter is to point to the pointer of driver object, another parameter is to point to the pointer of physical device object; (2) closing device; (3) fetch equipment data, when client applications has requiring of fetch equipment data, system requires this to pass to function driver with the IRP form of IRP_MJ_READ, D12Meter_Read program by equipment is carried out, and then specifies the direct and equipment realization information interaction of usb bus driver by D12Meter_Read; (4) equipment is write data, when client applications has requiring of write device data, system requires this to pass to function driver with the IRP form of IRP_MJ_WRITE, and carry out by D12Meter_Write, and then by D12Meter_Write specify the usb bus driver directly with equipment realization information interaction.The USB driver is by PID in the installation file (.inf file) (product differentiate number) and VID (manufacturer differentiate number) discriminating USB device.

After the embedded OS loading is finished, driver and other corresponding application of wireless network card just can be installed.The driver of wireless network card is bundled in the operating system as a module, can avoids the WLAN Device Driver of at every turn all will resetting after system's power down.

Embodiment 2

All the other are identical with embodiment 1, different is that reduction gear adopts epicyclic reduction gear of planetary type, as shown in Figure 11, small one and large one two circles are arranged among the figure, and two circles are concentric, and the annular section between two circles has other three roundlets, one of maximum is internal gear in all circles, other four roundlets all are gears, and middle that is sun gear, and other three roundlets are planetary gear.Connect the sun gear of the axle drive reductor of vane and deceleration unit, sun gear drives the planetary gear that is supported on the internal gear again, and planetary gear is by its engaged transmission with outer tooth ring, and the output shaft that driving links to each other with outer tooth ring reaches the purpose of deceleration.Planetary gear is designed to closed, an end of sealing upwards, and on this end face a spraying red fluorescence pointer shape, be used for the corner of Video Detection planetary gear.This kind of drive has: 1) ratio of gear can reach 87, and av eff is more than 92%; 2) the compact conformation volume is little; 3) the running stationary noise is low; 4) use advantages such as Q-percentile life is long.

Embodiment 3

All the other are identical with embodiment 1,2, the energy generating that is produced when adopting the vane spinning movement, and electricity can provide the energy to the Machine Vision Detection unit, realizes the measurement of no power consumption, high-quality wind speed and direction.

Embodiment 4

All the other are identical with embodiment 1,2, adopt solar cell to produce electric energy and are linked by normal charge circuit and accumulator, produce stabilized voltage supply by voltage stabilizer again, realize the measurement of no power consumption, high-quality wind speed and direction.

Embodiment 5

All the other are identical with embodiment 1,2, different is to adopt two vision sensors to carry out the detection of two-D wind speed wind direction separately, as shown in Figure 5, here key is to guarantee that the wind speed and direction on different detection plane detects the synchronous of the moment, can in the software of microprocessor, start two threads simultaneously, the video image of the corner of the feasible XY plane that is obtained and weathercock on the YZ plane and pointer is to occur in synchronization, thereby guarantee to detect the consistance in the wind speed and direction detection sampling time on two two dimensional surfaces, improve accuracy of detection.

The invention effect that the above embodiments 1～5 are produced is the visual and integrated design by the tri-dimensional wind speed wind direction sensor, image recognition, automatic gauge calculates means such as judgement, in resolution that improves the wind speed and direction measurement and range extension scope, improve the precision of measuring wind wind direction, alleviate the installation of wind speed wind direction sensor, adjust, the difficulty of maintenance and error calibrating, reduced the demarcation difficulty of tri-dimensional wind speed wind direction sensor, satisfied the requirement of the high-precision three-dimensional wind speed and direction scope of hydrometeorological department urgent need, with light, machine,, communication, technology such as Flame Image Process integrate, realized Intelligent Calculation, various measuring error have been eliminated, the resolving power and the measuring accuracy of wind speed wind direction sensor have been improved, various power consumptions have been reduced, realized the automatic data acquisition processing of wind speed and direction, various means of communication and various control function are provided, can be under the environmental baseline of very severe reliably working, this wind speed wind direction sensor is supported diverse network communication simultaneously, can carry out networking easily, provide a kind of new means the tri-dimensional wind speed wind direction distribution situation of holding the zone simultaneously.Realized with no paper, the digitizing of metering process of robotization, recording process of measuring process and the networking that detects sensing, also can make the tester pass through the video image of the tri-dimensional wind speed wind direction of long-range direct labor observation site simultaneously.

Claims (8)

1, a kind of tri-dimensional wind speed wind direction measuring apparatus based on omni-directional visual, it is characterized in that: described tri-dimensional wind speed wind direction measuring apparatus comprises support, vane, reducing gear, fixed connecting rod, weathercock, the wind azimuth piece, vision sensor and detection wind speed and direction microprocessor, horizontal direction and vertical direction at support are all installed vane, reducing gear, fixed connecting rod, weathercock and wind azimuth piece, described vision sensor is rack-mount, described vane is fixedlyed connected with the input shaft upper end of reducing gear, the input shaft lower end of described reducing gear is socketed in the upper end of fixed connecting rod, described weathercock is sleeved on the coupling shaft, described coupling shaft is fixedlyed connected with the fixed connecting rod lower end, the wind azimuth piece is installed in the end of described weathercock, the height of the upper end of described wind azimuth piece and described reducing gear are positioned at same plane, on the input shaft of reducing gear and output shaft, pointer is installed, two pointers respectively, the top of wind azimuth piece is provided with the marker color of setting;

Described vision sensor is an omnibearing vision sensor, comprise evagination catadioptric minute surface, in order to prevent dark circles cone, the transparent cylinder that anaclasis and light are saturated and to be used to take the camera of imaging body on the evagination mirror surface, described evagination catadioptric minute surface is positioned at the top of transparent cylinder, evagination catadioptric minute surface down, the dark circles cone is fixed on the bottom center of evagination catadioptric minute surface, and described camera facing to evagination catadioptric minute surface up; The visual range of described vision sensor comprises the plane, reducing gear place of horizontal direction and the plane, reducing gear place of vertical direction;

Described detection wind speed and direction comprises with microprocessor:

The view data read module is used to read camera and passes the video image information of coming;

Detection range is cut apart module, and the comprehensive video information that is used for obtaining from omnibearing vision sensor is divided into horizontal direction video and vertical direction video, the corresponding XY of horizontal direction plane, the corresponding YZ of vertical direction plane;

The color space conversion module is used for video image is transformed into yuv space from rgb color space;

The corner computing module, be used to calculate two pointers on described XY plane and YZ plane and the corner of wind azimuth piece, video image is converted into binary image, default wind azimuth piece and the fulcrum of two pointers on binary image, the transverse axis of visual plane is the north-south, the longitudinal axis is an East and West direction, the wind azimuth piece fulcrum that will unroll rotates when wind direction changes, after vane is subjected to wind-force, there is the pointer of obvious color characteristic this central point that also can unroll to rotate, the center of wind azimuth piece and the pitch angle of the straight line between the fulcrum are the corner of wind azimuth piece, and the center of pointer and the pitch angle of the straight line between the fulcrum are the corner of pointer;

The wind speed detection module, be used for the wind speed on the detection level two dimensional surface, set the inspection process time of every two field picture, the angle of pointer on input shaft in the observation reducing gear and the output shaft, when gentle breeze, N comes the angle of vane rotation in the representation unit time, i.e. the angle of pointer rotation on the input shaft, and the relation between the angle that wind speed and vane rotate is represented by formula (2);

V＝a+bN+cN ² (2)

In the following formula: V represents wind speed, is unit with the meter per second, the angle of vane rotation in the N representation unit time, and a, b, c represent wind-tunnel demarcation constant;

When high wind, the reduction gear ratio of reducing gear is n, and the relation between the angle of the output shaft rotation of wind speed and reducing gear is represented by formula (3):

V＝a+bN/n+c(N/n) ² (3)

In the following formula: V represents wind speed, is unit with the meter per second, the angle of the output shaft of reducing gear rotation in the N/n representation unit time; A, b, c represent wind-tunnel demarcation constant;

The wind direction detection module is used to detect the wind direction on described XY plane and YZ plane, sets the inspection process time of every two field picture, the angle of observation weathervane, and the centre position of writing down its hunting range, each two field picture obtains the corner of weathercock

The wind speed and direction vector of above-mentioned two two dimensions that obtain is carried out the wind speed and direction vector that vector adds the three-dimensional that obtains, calculates by formula (1),

${\stackrel{\&RightArrow;}{V}}_{\mathrm{xyz}}={\stackrel{\&RightArrow;}{V}}_{\mathrm{xy}}+{\stackrel{\&RightArrow;}{V}}_{\mathrm{yz}}---\left(1\right)$

In the following formula:

The wind speed and direction of a three-dimensional of expression,

Represent this projection of three-dimensional wind speed and direction on the XY plane,

Represent this projection of three-dimensional wind speed and direction on the YZ plane.

2, the tri-dimensional wind speed wind direction measuring apparatus based on omni-directional visual as claimed in claim 1, it is characterized in that: in described wind speed detection module, comprise instantaneous wind speed computing unit, maximum instantaneous power computing unit, one-minute average wind speed computing unit, two minutes mean wind speed computing units, ten minutes mean wind speed computing units and day maximum wind velocity computing unit, wherein

The instantaneous wind speed computing unit, be used to calculate the mean wind speed in 3 seconds on described XY plane and YZ plane, the sampling interval of setting video image was 5 frame/seconds, be the sampling time of 15 frame video images 3 seconds, the pointer experience of the output shaft of accumulative total reducing gear is handled the angle of being rotated in 15 frame video image times, N/n with in this angle value substitution formula (2) tries to achieve instantaneous wind speed V ₃(t);

The maximum instantaneous power computing unit is used to add up the maximum instantaneous power value that occurs in the period setting;

One-minute average wind speed computing unit is used for

The time wind speed V ₃(t) try to achieve mean wind speed V (t) in one minute by formula (14):

$V\left(t\right)=\underset{t=1}{\overset{20}{\mathrm{\&Sigma;}}}{V}_3(t-19)---\left(14\right)$

In the formula: V ₃(t) mean wind speed in 3 seconds of expression, one minute mean wind speed of V (t) expression;

Two minutes mean wind speed computing units are used for two minutes mean wind speeds asking by formula (15) according to one minute mean wind speed V (t):

$V_2\left(t\right)=\frac{\underset{t=1}{\overset{2}{\mathrm{\&Sigma;}}}V(t-1)}{2}---\left(15\right)$

In the formula: V ₂(t) two minutes mean wind speeds of expression; Mean wind speed in V (t) the expression current time try to achieve a minute;

Ten minutes mean wind speed computing units are used for ten minutes mean wind speeds asking by formula (16) according to one minute mean wind speed V (t):

$V_{10}\left(t\right)=\frac{\underset{t=1}{\overset{10}{\mathrm{\&Sigma;}}}V(t-9)}{10}---\left(16\right)$

In the formula: V ₁₀(t) ten minutes mean wind speeds of expression; Mean wind speed in V (t) the expression current time try to achieve a minute;

Day maximum wind velocity computing unit is used for the wind speed that the wind speed record intercepts 10 minutes line segments respectively according to 20 o'clock 20 o'clock～next day of every day and compares, and selects maximal value as 10 minutes this days maximum wind velocity, calculates a day maximum wind velocity V by computing formula (17) _10-max(t):

V _10-max(t)＝max(V ₁₀(20:10)，V ₁₀(20:20)，......，V ₁₀(20:00)) (17)。

3, the tri-dimensional wind speed wind direction measuring apparatus based on omni-directional visual as claimed in claim 1 or 2, it is characterized in that: in described wind direction detection module, comprise instantaneous wind direction computing unit, two minutes mean wind direction computing units and ten minutes mean wind direction computing units, wherein

Instantaneous wind direction computing unit, what be used for observing described XY plane and YZ plane obtains the corner of weathercock at each two field picture

The sampling interval of video image was 5 frame/seconds, and be the sampling time of 15 frame video images 3 seconds, tried to achieve the centre position of the hunting range of the weathercock in 3 seconds with formula (18):

In the formula:

Represent a two field picture apoplexy target corner, The centre position of representing the hunting range of the weathercock in 3 seconds;

Two minutes mean wind direction computing units are used for basis

Try to achieve the centre position of the hunting range of two minutes weathercocks by formula (19),

In the formula:

The centre position of the hunting range of two minutes weathercocks of expression,

The centre position of representing the hunting range of the weathercock in 3 seconds;

Ten minutes mean wind direction computing units are used for basis

Try to achieve the centre position of the hunting range of ten minutes weathercocks by formula (20),

In the formula:

The centre position of the hunting range of ten minutes weathercocks of expression,

The centre position of representing the hunting range of the weathercock in two minutes.

4, the tri-dimensional wind speed wind direction measuring apparatus based on omni-directional visual as claimed in claim 3, it is characterized in that: described reducing gear comprises pinion wheel and gear wheel, described input shaft connects with pinion wheel, described pinion wheel and gear wheel engagement, and described gear wheel connects with output shaft.

5, as claimed in claim 3 based on omni-directional visual

Wind speed and direction measuring device is characterized in that: described reducing gear is an epicyclic reduction gear of planetary type mechanism, and described epicyclic type mechanism comprises internal gear, gear and sun gear, and sun gear connects with input shaft, and described internal gear connects with output shaft.

6, the tri-dimensional wind speed wind direction measuring apparatus based on omni-directional visual as claimed in claim 4 is characterized in that: the top of described two pointers, wind azimuth piece scribbles fluorescent material.

7, the tri-dimensional wind speed wind direction measuring apparatus based on omni-directional visual as claimed in claim 3 is characterized in that: installation guide pin on the described coupling shaft.

8, the tri-dimensional wind speed wind direction measuring apparatus based on omni-directional visual as claimed in claim 3, it is characterized in that: described measurement mechanism also comprises charging circuit, the input shaft of described reducing gear connects generator, described generator connects charging circuit, and described charging circuit connects microprocessor.

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