CN101201241A - Method and system for measuring movement of ship model - Google Patents
Method and system for measuring movement of ship model Download PDFInfo
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Abstract
The invention provides a ship model motion measurement method which includes the following steps: a. the video image of a ship model is captured; b. image frames are extracted from the video image at intervals within a pre-set time period; c. screen coordinates of the ship mark signal are obtained from the image frames; d. the screen coordinates of the ship mark are converted into space coordinates; e. motion components of the ship model are obtained according to the space coordinates of the ship mark. In addition, a ship model motion measurement system is provided, which includes a ship mark with light source, an image collection unit, an image sampling unit, a screen coordinate signal identification unit, a coordinate transformation unit and a motion quantity calculation unit. No extra interference quantity is added to the ship model, so the invention has no any error because of any obstruction to the motion of the ship model.
Description
Technical field
The present invention relates to a kind of motion measuring method and system, more specifically, relate to a kind of movement of ship model measuring method and system.
Background technology
At present, ship model experiment is the most frequently used means of research harbor work's design problem, when hydraulic test relates to the test of movement of ship model amount, traditional in the past means mainly be utilize directly place at ship model itself the amount of exercise test of mechanical device surveying vessel lines such as link-type heave instrument and horizontal vertical shift instrument in advancing (six-freedom degree of movement of ship model is respectively: pitching, rolling, hang down swing, shake, surging, swaying), the means of utilizing these mechanical mechanisms to carry out ship model cradle angle and heave measurement all have more general application at home and abroad.
Fig. 1 shows the synoptic diagram of this type of mechanism, and this mechanism is heave instrument and the pitching instrument that four-bar mechanism is formed.Mechanism is installed in the central fore-and-aft vertical plane of ship model, and the record of heave and cradle angle is separately independently.When heave bar BE moves up and down, cause moving of connecting rod BC, AB, i.e. the motion of triangle ABC among the figure makes A point move, and orders its displacement of the lines of measurement devices such as accelerometer that is connected by A, and write down heave displacement longitudinally in pen recorder.
And when ship model generation pitching, pitching bar DE moves, thereby pitching causes connecting rod is formed among the figure triangle BDE and parallelogram BCHE motion, the feasible I point motion that is connected with parallelogram BCHE with above-mentioned triangle BDE, order its angular displacements of measurement device such as the gyroscope that connected or potentiometer measurement and the angle displacement of record pitching in pen recorder by I.
As can be seen, utilize above-mentioned traditional measurement device to carry out movement of ship model measurement amount, measurement mechanism need be installed on the hull of ship model, because the inertia of its mechanical hook-up itself certainly will exert an influence to the ship model displacement, and can not consider influence between the six-freedom degree displacement simultaneously, therefore measure and can exist than mistake.
Therefore, be necessary to design a kind of new movement of ship model measuring method and system in fact, to overcome above-mentioned defective.
Summary of the invention
The object of the present invention is to provide a kind of contactless, can accurately measure momental movement of ship model measuring method and system.
To achieve these goals, movement of ship model measuring method of the present invention is design like this:
According to movement of ship model measuring method of the present invention, may further comprise the steps:
A. gather the video image of motion ship model;
B. from described video image, extract picture frame with predetermined time interval;
C. in described picture frame, obtain the screen coordinate of ship mark signal;
D. ship target screen coordinate is converted to volume coordinate;
E. according to described ship target spatial point coordinate, draw the component motion of ship model.
Wherein, step a also comprises:
A1. regulate lens location to obtain complete ship model image;
A2. focus to obtain predetermined picture resolution.
Wherein, step b also comprises: b1. carries out interpolation by interpolation method to the described picture frame that extracts, and obtains other picture frames in the described predetermined time interval.
Wherein, steps d comprises: utilize the relative coordinate system that is based upon on the ship model, ship target screen coordinate is converted to volume coordinate.
Wherein, by following formula ship target screen coordinate is converted to volume coordinate:
Wherein, (x, y z) is ship target fixed in space coordinate, (u, v, w) for ship is marked on the relative coordinate in the relative coordinate system on the ship model, Cux, Cuy, Cuz, Cvx, Cvy, Cvz, Cwx, Cwy, Cwz are the direction cosine of relative coordinate system P-UVW and fixed coordinate system O-XYZ, (xG, yG zG) is the coordinate of ship model center of gravity G in space coordinates.
And movement of ship model measuring system of the present invention is design like this:
According to a kind of movement of ship model measuring system of the present invention, comprising:
Ship mark with light emitting source, described ship mark is connected with ship model;
Reception generates and exports the image acquisition units of ship model video image from the light signal of ship model;
From described ship model video image, obtain the image sampling unit of discrete picture with the schedule time;
Identification ship target screen coordinate signal recognition unit from described discrete picture;
Ship target screen coordinate is converted to the coordinate transformation unit of volume coordinate;
According to the amount of exercise computing unit of ship target spatial coordinates calculation movement of ship model amount.
Wherein, also comprise: be used to regulate lens location to obtain the position regulating unit of complete ship model image; Be used to focus to obtain the focus adjustment unit of predetermined picture resolution.
Wherein, also comprise:
Be used for the described picture frame that extracts is carried out interpolation, obtain the interpolation calculation unit of other picture frames in the described predetermined time interval.
Wherein, described ship mark is connected with the center of gravity of ship model.
Wherein, any 3 conllinear not of the light source put on of described ship.
Movement of ship model measuring method of the present invention and system utilize non-contact testing commercial measurement ship model, promptly with condition that tested ship model does not directly or indirectly contact under the test carried out, just there is not extra interference volume to be attached on the ship model, therefore can be because of any obstruction of the motion of ship model self not be produced error, thus the data of its reflection are also more near truth.
Description of drawings
Fig. 1 is the synoptic diagram of common movement of ship model measurement mechanism;
Fig. 2 is that the present invention carries out the synoptic diagram that contactless movement of ship model is measured;
Fig. 3 is the process flow diagram according to the contactless movement of ship model measuring method of the embodiment of the invention;
Fig. 4 is the structural representation according to the contactless movement of ship model measuring system of the embodiment of the invention;
Fig. 5 is the ship mark attitude synoptic diagram according to the embodiment of the invention;
Fig. 6 marks according to the ship of the embodiment of the invention synoptic diagram is set.
Embodiment
Fig. 2 is the position view that carries out contactless movement of ship model ship model and measuring system when measuring according to the present invention.As shown in Figure 2, ship model to be measured 201 sails measurement zone into along middle of fairway, and the ship mark (the ship mark with four light emitting sources is set in the present invention) with a plurality of light emitting sources is equipped with at the station on ship model 201, and certain geometric relationship is satisfied in the position between the ship beacon light.This measurement zone is different according to concrete measurement mechanism, and for example the size of measurement zone depends on the distance of video camera and ship model, the maximum focal length of video camera, brightness of ship mark light emitting source or the like.
After sailing measurement zone into, to make a video recording by 203 pairs of ship models of advancing 201 of video camera of computer system 202 controls, the image of taking the back acquisition sends back computer system 202 and handles, calculates.Thereby obtain the position coordinates of the ship punctuate on the ship model 201, and, obtain ship target amount of exercise, represent amount of exercise as the ship model 201 of its carrier with this by digital image processing techniques and analytical algorithm.
Fig. 3 is the process flow diagram according to the contactless movement of ship model measuring method of the embodiment of the invention.In step 301, set initial camera position and lens focus.Described position determined by the position of ship model to be measured when entering measurement zone, sets with standard that can complete display ground acquisition ship model image in this position.
In step 302, gather the video image of ship model to be measured.Concrete gatherer process can be different with the harvester that is connected with computing machine according to concrete video camera, in an embodiment of the present invention, ship model to be measured begins to advance from initial position, video camera begins to make a video recording, the video image that is absorbed is through image pick-up card input computing machine, the input of this video image is converted to digital signal through A/D converter, so that computing machine is handled this signal.Then, store digital signal into data buffer, have relevant data processing software that digital signal is handled accordingly, for example: cut out, compression, data conversion or the like.By dma controller, deposit the data after handling in storer, for example: terminal internal memory or video card internal memory.
In step 303, the continuous videos image that collects is sampled.Extract image segments with given sampling interval Δ t, continuous like this moving image just is divided into discrete one by one rest image frame, this time interval can be chosen according to system processing power, and in an embodiment of the present invention, the time interval can be chosen 0.01 second.Preferably, after obtaining these discrete pictures, can obtain more images between the discrete picture by interpolation algorithm (for example passing through linear interpolation algorithm), not obtain more numerical analysis sample, improve measuring accuracy so that reach in the sampling ability under the situation of requirement.
In step 304, in the image that each frame sampling obtains, catch specific signal, i.e. ship beacon light signal on the ship model.In the discrete picture that is collected, ship beacon light signal is discerned, promptly on each two field picture with each ship mark signal lamp on screen pairing specific RGB element coordinate (RGB is a kind of computer color pattern, for representing the light of Red Green Blue, the RGB pattern mainly by electronic curtain as show media) capture.
In step 305, judge that ship beacon light signal is whether in the screen scope.If in the screen scope, can access the ship mark coordinate points of predetermined number (for example 4), the step of then carrying out following coordinate decoupling zero.If in the screen scope, do not find ship mark coordinate points or do not find the ship mark coordinate points of predetermined number,, adjust lens location and focal length so that can obtain whole signal specific, and return step 302 and carry out image acquisition again then in step 308.
In step 306, these ship target screen point coordinates are separated idol, so that obtain the test figure of movement of ship model amount.Concrete decoupling zero process is as follows:
If fixed in space coordinate system O-XYZ, the relative coordinate that is fixed on the model is made as P-UVW, the volume coordinate of 4 luminous points that ship is put on is (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), (x4, y4, z4), (x5, y5, z5), (x6, y6, z6), can try to achieve the direction cosine Cux of relative coordinate system P-uvw and fixed coordinate system O-xyz according to the coordinate of these 4 points, Cuy, Cuz, Cvx, Cvy, Cvz, Cwx, Cwy, Cwz, can be by calculating Eulerian angle, according to the relative position of given model center of gravity G and ship mark signaling point, ship model center of gravity G is at the coordinate (xG of spatial movement, yG, zG) coordinate of any 1 Q in available following space and centre of gravity place relation are tried to achieve:
In the formula, (x, y z) are Q space of points stationary coordinate, and (u, v w) are the relative coordinate of Q on model.
In step 307,, draw the component motion of ship model according to described ship target spatial point coordinate.Can adopt existing any suitable image processing algorithm to the calculating of movement of ship model amount.
According to the rigid body kinematics theory, on the movable body arbitrarily not collinear three points can characterize whole object of which movement situation.On hull, adhere to these 4 pointolites and characterize the motion of hull, as the distinguishing mark of Computer Image Processing.The monumented point three dimensional space coordinate is directly obtained by geometric relationship own, the two-dimensional coordinate of monumented point by camera acquisition after Flame Image Process obtain; And the monumented point in the image to be the picture signal of camera acquisition obtain binary image through after the capture card pre-service, and further the method by asking for barycenter is reduced to it that point coordinate obtains. every two field picture is preserved with M * N array form in computing machine in computing machine.The three dimensional space coordinate point is tried to achieve in utilization, just can obtain 6 degree of freedom component values, and said vessel is marked any two moment poses as shown in Figure 5.
To any 1 A wherein
1=RA
1'+T can utilize Flame Image Process and calibration coefficient to obtain, wherein A
1' be initial coordinate, R is hull rotation matrix R=(ABC); T=(XYZ) is hull translation vector .A, B, C corresponding rolling respectively, pitching, revolution, and X, Y, Z are corresponding traversing respectively, vertical shift and heave.In like manner, can calculate A2, B1, B2 by this method.
Fig. 4 is the structural representation according to the contactless movement of ship model measuring system of the embodiment of the invention.This movement of ship model measuring system comprises: ship mark 401, image acquisition units 402, image sampling unit 403, signal recognition unit 404, coordinate transformation unit 405 and amount of exercise computing unit 406 also comprise interpolating unit 407, position regulating unit 408 and focus adjustment unit 409.Wherein, image acquisition units 402, image sampling unit 403, signal recognition unit 404, coordinate transformation unit 405, amount of exercise computing unit 406 and interpolating unit 407 can be realized by hardware devices such as the CPU that carries out the corresponding software function on the computer systems such as Industrial Control Computer or PC, internal memory, serial-parallel interfaces.
Described signal recognition unit 404 is discerned the screen coordinate of ship mark 401 from described discrete picture.On screen, outstanding coordinate points can be stayed owing to have the light that sends on the ship mark 401 of light emitting source,, the coordinate points of ship mark 401 can be identified therefore by the appropriate image processing algorithm.
Coordinate transformation unit 405 is converted to volume coordinate with the screen coordinate of ship mark 401.Finish the coordinate transform of ship target by various suitable coordinate transformation algorithms in coordinate transformation unit 405, in the present embodiment,, determine ship target volume coordinate in each two field picture by the relative coordinate system that builds on the ship model.
Amount of exercise computing unit 406 is according to the amount of exercise of the spatial coordinates calculation ship model that obtains ship mark 401 in step 405.Can adopt existing any suitable image processing algorithm to the calculating of movement of ship model amount.
Although invention has been described by above-mentioned preferred embodiment, those skilled in the art should understand that:, can make different variations and modification the present invention without departing from the spirit and scope of the present invention.
Claims (10)
1. a movement of ship model measuring method is characterized in that, may further comprise the steps:
A. gather the video image of motion ship model;
B. from described video image, extract picture frame with predetermined time interval;
C. in described picture frame, obtain the screen coordinate of ship mark signal;
D. ship target screen coordinate is converted to volume coordinate;
E. according to described ship target spatial point coordinate, draw the component motion of ship model.
2. movement of ship model measuring method according to claim 1 is characterized in that step a also comprises:
A1. regulate lens location to obtain complete ship model image;
A2. focus to obtain predetermined picture resolution.
3. movement of ship model measuring method according to claim 1 is characterized in that step b also comprises: b1. carries out interpolation by interpolation method to the described picture frame that extracts, and obtains other picture frames in the described predetermined time interval.
4. movement of ship model measuring method according to claim 1 is characterized in that steps d comprises: utilize the relative coordinate system that is based upon on the ship model, ship target screen coordinate is converted to volume coordinate.
5. movement of ship model measuring method according to claim 4 is characterized in that, by following formula ship target screen coordinate is converted to volume coordinate:
Wherein, (x, y z) is ship target fixed in space coordinate, (u, v, w) for ship is marked on the relative coordinate in the relative coordinate system on the ship model, Cux, Cuy, Cuz, Cvx, Cvy, Cvz, Cwx, Cwy, Cwz are the direction cosine of relative coordinate system P-UVW and fixed coordinate system O-XYZ, (xG, yG zG) is the coordinate of ship model center of gravity G in space coordinates.
6. a movement of ship model measuring system is characterized in that, comprising:
Ship mark with light emitting source, described ship mark is connected with ship model;
Reception is from the image acquisition units of light signal, generation and the output ship model video image of ship model;
From described ship model video image, obtain the image sampling unit of discrete picture with the schedule time;
Identification ship target screen coordinate signal recognition unit from described discrete picture;
Ship target screen coordinate is converted to the coordinate transformation unit of volume coordinate;
Amount of exercise computing unit according to ship target spatial coordinates calculation movement of ship model amount.
7. movement of ship model measuring system according to claim 6 is characterized in that, also comprises: be used to regulate lens location to obtain the position regulating unit of complete ship model image; Be used to focus to obtain the focus adjustment unit of predetermined picture resolution.
8. movement of ship model measuring system according to claim 6 is characterized in that, also comprises:
Be used for the described picture frame that extracts is carried out interpolation, obtain the interpolation calculation unit of other picture frames in the described predetermined time interval.
9. movement of ship model measuring system according to claim 6 is characterized in that, described ship mark is connected with the center of gravity of ship model.
10. movement of ship model measuring system according to claim 9 is characterized in that, any 3 conllinear not of the light source that described ship is put on.
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101907510A (en) * | 2010-06-29 | 2010-12-08 | 中国船舶重工集团公司第七〇二研究所 | Air cavity craft dragging test method |
| CN102291338A (en) * | 2010-08-20 | 2011-12-21 | 无锡朗能科技有限公司 | Automatic acquisition and identification system of ship light signal |
| CN103940579A (en) * | 2014-03-11 | 2014-07-23 | 哈尔滨工程大学 | Experiment and automatic image collection system for bubble behavioral research under swaying conditions |
| CN103954220A (en) * | 2014-05-06 | 2014-07-30 | 福建江夏学院 | Ship motion state digital image measuring method in bridge collision test |
| CN105197196A (en) * | 2015-10-21 | 2015-12-30 | 上海海事大学 | Smart anti-swing unmanned surface vessel and anti-swing method thereof |
| CN106289720A (en) * | 2016-08-17 | 2017-01-04 | 上海斯达瑞船舶海洋工程服务有限公司 | The ship model experiment method of multiple-screw vessel |
| CN106706265A (en) * | 2017-01-19 | 2017-05-24 | 上海交通大学 | Four-freedom-degree motion mechanism |
| CN109341549A (en) * | 2018-11-29 | 2019-02-15 | 东南大学 | A kind of camera system displacement monitoring improved method based on data fusion |
| CN112798224A (en) * | 2020-12-29 | 2021-05-14 | 浙大宁波理工学院 | Ship model plane motion measurement method |
| CN113124756A (en) * | 2021-05-07 | 2021-07-16 | 江南造船(集团)有限责任公司 | Cabin size measuring method based on laser tracker |
| CN113791012A (en) * | 2021-08-26 | 2021-12-14 | 中国船舶工业集团公司第七0八研究所 | Model test method for measuring ship stroke |
| CN114111673A (en) * | 2021-12-08 | 2022-03-01 | 中国船舶科学研究中心 | Six-degree-of-freedom relative motion measurement system |
| CN115508006A (en) * | 2022-09-15 | 2022-12-23 | 中国船舶科学研究中心 | Ship model gravity center and inertia testing method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101907510A (en) * | 2010-06-29 | 2010-12-08 | 中国船舶重工集团公司第七〇二研究所 | Air cavity craft dragging test method |
| CN102291338A (en) * | 2010-08-20 | 2011-12-21 | 无锡朗能科技有限公司 | Automatic acquisition and identification system of ship light signal |
| CN102291338B (en) * | 2010-08-20 | 2015-04-22 | 朱瀚 | Automatic acquisition and identification system of ship light signal |
| CN103940579A (en) * | 2014-03-11 | 2014-07-23 | 哈尔滨工程大学 | Experiment and automatic image collection system for bubble behavioral research under swaying conditions |
| CN103940579B (en) * | 2014-03-11 | 2016-05-04 | 哈尔滨工程大学 | A kind of experiment and image automated collection systems for swaying condition bubble behavioral study |
| CN103954220A (en) * | 2014-05-06 | 2014-07-30 | 福建江夏学院 | Ship motion state digital image measuring method in bridge collision test |
| CN103954220B (en) * | 2014-05-06 | 2016-08-24 | 福建江夏学院 | Hit ship motion status number image measuring method in bridge test |
| CN105197196A (en) * | 2015-10-21 | 2015-12-30 | 上海海事大学 | Smart anti-swing unmanned surface vessel and anti-swing method thereof |
| CN106289720A (en) * | 2016-08-17 | 2017-01-04 | 上海斯达瑞船舶海洋工程服务有限公司 | The ship model experiment method of multiple-screw vessel |
| CN106706265B (en) * | 2017-01-19 | 2023-06-30 | 上海交通大学 | Four-degree-of-freedom movement mechanism |
| CN106706265A (en) * | 2017-01-19 | 2017-05-24 | 上海交通大学 | Four-freedom-degree motion mechanism |
| CN109341549A (en) * | 2018-11-29 | 2019-02-15 | 东南大学 | A kind of camera system displacement monitoring improved method based on data fusion |
| CN112798224B (en) * | 2020-12-29 | 2022-05-10 | 浙大宁波理工学院 | Ship model plane motion measurement method |
| CN112798224A (en) * | 2020-12-29 | 2021-05-14 | 浙大宁波理工学院 | Ship model plane motion measurement method |
| CN113124756A (en) * | 2021-05-07 | 2021-07-16 | 江南造船(集团)有限责任公司 | Cabin size measuring method based on laser tracker |
| CN113791012A (en) * | 2021-08-26 | 2021-12-14 | 中国船舶工业集团公司第七0八研究所 | Model test method for measuring ship stroke |
| CN114111673A (en) * | 2021-12-08 | 2022-03-01 | 中国船舶科学研究中心 | Six-degree-of-freedom relative motion measurement system |
| CN114111673B (en) * | 2021-12-08 | 2023-05-12 | 中国船舶科学研究中心 | Six-degree-of-freedom relative motion measurement system |
| CN115508006A (en) * | 2022-09-15 | 2022-12-23 | 中国船舶科学研究中心 | Ship model gravity center and inertia testing method |
| CN115508006B (en) * | 2022-09-15 | 2023-09-22 | 中国船舶科学研究中心 | Ship model gravity center and inertia testing method |
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