CN101183000A - Visible sensation inclination angle measurement method and device thereof - Google Patents
Visible sensation inclination angle measurement method and device thereof Download PDFInfo
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- CN101183000A CN101183000A CNA2007101142758A CN200710114275A CN101183000A CN 101183000 A CN101183000 A CN 101183000A CN A2007101142758 A CNA2007101142758 A CN A2007101142758A CN 200710114275 A CN200710114275 A CN 200710114275A CN 101183000 A CN101183000 A CN 101183000A
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Abstract
The invention relates to a method of the extraction of digital texture image characteristics and the measurement of a two-dimensional dip angle, a realization device and the technical field of an instrument, in particular to a measuring method for the visual dip angle and a device thereof. The proposal of the invention is as follows that a gravity pendulum is fixed on a plane and the swinging signal of the gravity pendulum is measured when the plane is inclined, therefore, the dip angle value of the plane relative to the horizontal plane can be work out. The invention has the beneficial effect that the dip angle and the dip azimuth (alpha, theta) can be outputted in the adjustable frequency of 0.1 to 20 hertz with accuracy up to 0.05 degree, moreover, when the length of pendulum and the resolving capacity are increased, accuracy can be improved further, the structure is simple. For measurement of elevation angle of all of the lifting operation platforms and pylons, the invention can further improve safety precaution ability of the device with the required measurement of elevation angle.
Description
Technical field
The present invention relates to digital texture image feature extraction and two-dimentional inclination angle measurement method and implement device and Instrument technology field, specifically is a kind of visible sensation inclination angle measurement method and device.
Background technology
Handling machinery is one of conventional major equipment in the various logistics systems such as harbour, building, cargo hold, urban construction, fire-fighting.Hoisting machinery guarantees that in the construction operation process the stable and level of job platform is the prerequisite of safety in production.Many fatal crasses' accident all is that the operating personnel can not get in time reminding causing above tumbling critical value at the pitch angle of hoisting operation platform.Accurately and timely measure the job platform pitch angle and be always one of technical goal that people pursue.
At present, measurement of dip angle generally is to convert the inclination angle to angular displacement or displacement of the lines is carried out by displacement transducers such as capacitive transducer, inductance sensor, optical encoder sensor, gas gravity pendulums.When carrying out the crane incline measurement, owing to have the high and low frequency composition simultaneously in the signal, the measurement of dip angle accuracy requirement is higher than 0.08 degree, and present measuring method and sensor are difficult to aspect response frequency, measuring accuracy, cost etc. three satisfied fully.
Develop rapidly based on present machine vision technique, data image signal collection and processing cost significantly reduce, finish the collection of dip angle signal with digital image processing techniques, simple gravity pendulum with routine produces dip angle signal, thereby the platform measurement of dip angle problem that solves in the handling machinery construction operation process becomes possibility.Produced the present invention thus.
Summary of the invention
In order to overcome the deficiency of above-mentioned inclination angle measurement method, the present invention a kind of new visible sensation inclination angle measurement method and implement device be provided.The measurement of dip angle value precision that this method is obtained can reach 0.05 degree, and sample frequency can be regulated arbitrarily between the 0.1-20 hertz, and cost is low, reliable operation.
Technical scheme of the present invention is: fix a gravity pendulum on a certain plane, when this plane inclination, measure the swinging signal of gravity pendulum, through calculating this plane inclination angle value with respect to the horizontal plane.
Specifically, be provided with sealing shell, so that protection and fixing; Be provided with the swinging signal that camera obtains gravity pendulum; Be provided with the signal processing circuit board that is connected with camera, camera is transferred to signal processing circuit board with the signal that obtains, calculate the pitch angle of this plane, can converse this plane inclination angle value with respect to the horizontal plane by this inclination angle with respect to the gravity pendulum pedal line; Be provided with power supply camera and the required power supply of signal processing circuit board are provided.
The capture axis and the angle between the gravity pendulum pedal line of camera are β, and gravity pendulum position was (x when the sealing shell vertical axis was parallel with the gravity pendulum pedal line
0, y
0), the closed container vertical axis becomes the θ angle with pedal line, when becoming the α angle with the image column augment direction gravity pendulum position for (x y), then has:
x＝x
0+l·sin(θ)·cos(α)·sin(β)
y＝y
0+l·sin(θ)·sin(α)·sin(β)
So, can by (x, y) position in the gravity pendulum image that camera obtained (x ', y '), obtain the inclination angle (α, θ).
The camera optimum position is for being positioned under the gravity pendulum, and its capture axis and gravity pendulum pedal line are located on the same line, computing method are: the length of gravity pendulum is made as l, and gravity pendulum position was (x when the closed container vertical axis was parallel with the gravity pendulum pedal line
0, y
0), the closed container vertical axis becomes the θ angle with pedal line, when becoming the α angle with the image column augment direction gravity pendulum position for (x y), then has:
x＝x
0+l·sin(θ)·cos(α)
y＝y
0+l·sin(θ)·sin(α)
So, can by (x, y) position in the gravity pendulum image that camera obtained (x ', y '), obtain the inclination angle (α, θ).Wherein, the resolution of gravity pendulum length l and camera has determined that (as l=400mm, when camera resolution is 576 * 720 pixels, the measurement of dip angle precision can reach 0.05 degree for α, measuring accuracy θ) at the inclination angle.The distance of camera and gravity pendulum has determined measurement range, and the measurement range of general θ is spent to 90 degree for-90, and the measurement range of α is spent to 360 degree 0.Along with measurement range becomes greatly, measuring accuracy can diminish.
The invention has the beneficial effects as follows, camera can with the adjustable frequency of 0.1-20 hertz output inclination angle and well azimuth (α, θ), precision can reach 0.05 degree, when pendulum length increase and the resolution increase after, precision can further improve, and is simple in structure.For the incline measurement of all hoisting operation platforms and pylon, can further improve the safe precaution ability of the device that needs incline measurement.
Description of drawings
Figure one is the cut-open view of the embodiment of the invention;
Figure two obtains the synoptic diagram of gravity pendulum image for the camera of the embodiment of the invention;
Wherein, 1 is gravity pendulum, and 2 is sealing shell, and 3 is light source, and 4 is camera, and 5 is signal processing circuit board, and 6 is power supply.
Embodiment
Embodiment with indefiniteness further explains, illustrates the technical program below.
In a sealing shell, be provided with power supply, gravity pendulum, camera, signal processing circuit board and light source, wherein, gravity pendulum is fixed on the sealing shell upper end cover, camera is arranged under the gravity pendulum, its axis and gravity pendulum pedal line are located on the same line, and power supply and signal processing circuit board are arranged on the position that does not influence the camera capture.Signal processing circuit board is connected with camera, receives the signal of camera transmission, and calculates the inclination angle value of sealing shell with respect to pedal line, and then calculates shell inclination angle value with respect to the horizontal plane; Power supply is camera and signal processing circuit board power supply; Light source is the banding pattern scattering light source, the gravity pendulum is not formed direct projection, is convenient to the camera capture.
Camera is set to be positioned under the gravity pendulum, and its capture axis and gravity pendulum pedal line be located on the same line, and computing method are: the length of gravity pendulum is made as l, and gravity pendulum position was (x when the closed container vertical axis was parallel with pedal line
0, y
0), the closed container vertical axis becomes the θ angle with the gravity pendulum pedal line, when becoming the α angle with the image column augment direction gravity pendulum position for (x y), then has:
x＝x
0+l·sin(θ)·cos(α)
y＝y
0+l·sin(θ)·sin(α)
So, can by (x, y) position in the gravity pendulum image that camera obtained (x ', y '), obtain the inclination angle (α, θ).Wherein, the resolution of gravity pendulum length l and camera has determined that (as l=400mm, when camera resolution is 576 * 720 pixels, the measurement of dip angle precision can reach 0.05 degree for α, measuring accuracy θ) at the inclination angle.The distance of camera and gravity pendulum has determined measurement range, and the measurement range of general θ is spent to 90 degree for-90, and the measurement range of α is spent to 360 degree 0.Along with measurement range becomes greatly, measuring accuracy can diminish.
During application, this device is fixed in makes closed container axis and tested plane parallel or vertical place, power-on.When the run-off the straight of tested plane, the synchronous run-off the straight of sealing shell meeting, camera obtains the swing image of gravity pendulum according to 25 hertz frequency, be transferred to signal processing circuit board, through signal processing circuit board be converted to the pitch angle (α, θ), and with the output of the adjustable frequency of 0.1-20 hertz.
In order better to obtain the swing image, on gravity pendulum, can also be provided with the sign that makes things convenient for image recognition.According to environment for use, sealing shell can increase insulation and sealant.
Claims (6)
1. visible sensation inclination angle measurement method, it is characterized in that: its method is: fix a gravity pendulum on a certain plane, when this plane inclination, measure the swinging signal of gravity pendulum, through calculating this plane inclination angle value with respect to the horizontal plane.
2. method according to claim 1 is characterized in that: adopt camera, the position that obtains gravity pendulum; Adopt the signal processing circuit board that is connected with camera, calculate described plane inclination angle value with respect to the horizontal plane.
3. method according to claim 2, it is characterized in that: its computing method are: the length of described gravity pendulum is made as l, the capture axis and the angle between the gravity pendulum pedal line of camera are β, and gravity pendulum position was (x when described plane vertical axis was parallel with the gravity pendulum pedal line
0, y
0), the closed container vertical axis becomes the θ angle with pedal line, when becoming the α angle with the image column augment direction gravity pendulum position for (x y), then has:
x＝x
0+l·sin(θ)·cos(α)·sin(β)
y＝y
0+l·sin(θ)·sin(α)·sin(β)
By (x, y) position in the gravity pendulum image that camera obtained (x ', y '), obtain the inclination angle (α, θ).
4. method according to claim 3, it is characterized in that: its computing method are: the length of described gravity pendulum is made as l, camera be arranged on gravity pendulum under, make it the axis and the gravity pendulum pedal line point-blank, gravity pendulum position was (x when described plane vertical axis was parallel with the gravity pendulum pedal line
0, y
0), the closed container vertical axis becomes the θ angle with pedal line, when becoming the α angle with the image column augment direction gravity pendulum position for (x y), then has:
x＝x
0+l·sin(θ)·cos(α)
y＝y
0+l·sin(θ)·sin(α)
By (x, y) position in the gravity pendulum image that camera obtained (x ', y '), obtain the inclination angle (α, θ).
5. realize the device of visible sensation inclination angle measurement method according to claim 1, comprise power supply, sealing shell is characterized in that: also comprise gravity pendulum, camera, signal processing circuit board, wherein, gravity pendulum is fixed on the sealing shell upper end cover; Camera is arranged under the gravity pendulum, and its capture axis and gravity pendulum pedal line are point-blank.
6. device according to claim 5 is characterized in that: also be provided with light source in the sealing shell cavity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101142758A CN101183000B (en) | 2007-11-19 | 2007-11-19 | Visible sensation inclination angle measurement method and device thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101142758A CN101183000B (en) | 2007-11-19 | 2007-11-19 | Visible sensation inclination angle measurement method and device thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101183000A true CN101183000A (en) | 2008-05-21 |
| CN101183000B CN101183000B (en) | 2010-12-15 |
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ID=39448357
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2007101142758A Expired - Fee Related CN101183000B (en) | 2007-11-19 | 2007-11-19 | Visible sensation inclination angle measurement method and device thereof |
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| CN (1) | CN101183000B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101806588A (en) * | 2010-03-29 | 2010-08-18 | 哈尔滨工程大学 | Hang spring pivot angle sensor device |
| CN103245304A (en) * | 2013-04-18 | 2013-08-14 | 国家电网公司 | Angle sensor provided with temperature compensation optical fibers and used for measuring level angle of pole tower |
| CN104106097A (en) * | 2014-04-28 | 2014-10-15 | 中国科学院自动化研究所 | Detection method for image horizontal gravity direction |
| CN105466394A (en) * | 2016-01-05 | 2016-04-06 | 上海筑邦测控科技有限公司 | Tilt angle sensor based on drop-hammer position video identification technology |
| CN106373477A (en) * | 2016-08-30 | 2017-02-01 | 上海大学 | Networked visual servo control device for double inverted pendulums connected in parallel |
| CN109059856A (en) * | 2018-06-30 | 2018-12-21 | 浙江工业大学 | A kind of inclination measuring system and its measurement method based on camera |
| CN109470171A (en) * | 2019-01-04 | 2019-03-15 | 山东农业大学 | A kind of sphericity measuring device and measuring method based on machine vision technique |
| CN113126530A (en) * | 2019-12-30 | 2021-07-16 | 珠海极海半导体有限公司 | Method for calculating sampling rate of timer filter and control device |
-
2007
- 2007-11-19 CN CN2007101142758A patent/CN101183000B/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101806588B (en) * | 2010-03-29 | 2011-06-22 | 哈尔滨工程大学 | Hang spring pivot angle sensor device |
| CN101806588A (en) * | 2010-03-29 | 2010-08-18 | 哈尔滨工程大学 | Hang spring pivot angle sensor device |
| CN103245304A (en) * | 2013-04-18 | 2013-08-14 | 国家电网公司 | Angle sensor provided with temperature compensation optical fibers and used for measuring level angle of pole tower |
| CN103245304B (en) * | 2013-04-18 | 2015-11-04 | 国家电网公司 | For the band temperature-compensated fiber angular transducer that shaft tower level angle is measured |
| CN104106097A (en) * | 2014-04-28 | 2014-10-15 | 中国科学院自动化研究所 | Detection method for image horizontal gravity direction |
| CN104106097B (en) * | 2014-04-28 | 2017-03-29 | 中国科学院自动化研究所 | The detection method of image level gravity direction |
| CN113551651A (en) * | 2016-01-05 | 2021-10-26 | 上海筑邦测控科技有限公司 | Inclination angle sensor based on drop hammer position video identification technology |
| CN105466394A (en) * | 2016-01-05 | 2016-04-06 | 上海筑邦测控科技有限公司 | Tilt angle sensor based on drop-hammer position video identification technology |
| CN106373477A (en) * | 2016-08-30 | 2017-02-01 | 上海大学 | Networked visual servo control device for double inverted pendulums connected in parallel |
| CN109059856A (en) * | 2018-06-30 | 2018-12-21 | 浙江工业大学 | A kind of inclination measuring system and its measurement method based on camera |
| CN109470171A (en) * | 2019-01-04 | 2019-03-15 | 山东农业大学 | A kind of sphericity measuring device and measuring method based on machine vision technique |
| CN109470171B (en) * | 2019-01-04 | 2023-11-17 | 山东农业大学 | Sphericity measuring device and sphericity measuring method based on machine vision technology |
| CN113126530A (en) * | 2019-12-30 | 2021-07-16 | 珠海极海半导体有限公司 | Method for calculating sampling rate of timer filter and control device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101183000B (en) | 2010-12-15 |
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