CN102865982A - Method for acquiring motion trail of redundancy based on photographing technology in process of detecting redundancy in sealed device - Google Patents
Method for acquiring motion trail of redundancy based on photographing technology in process of detecting redundancy in sealed device Download PDFInfo
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Abstract
The invention discloses a method for acquiring a motion trail of redundancy based on a photographing technology in a process of detecting the redundancy in a sealed device, relates to the field of motion process analysis methods for image processing, and aims to solve the problem of deficiency of technical means for detecting the motion trail of redundant particles in the detection process in the technical field of detection of the redundancy in the conventional sealed device. According to the method, the conventional redundancy detection test platform is combined, the redundancy in a transparent sealed cavity body in a vibration process is photographed through a high-speed video camera, a proper image enhancement algorithm is used for preprocessing an image, the positions of the redundancy and the inner wall of the cavity body are extracted through an image edge detection technology, motion parameters of the redundancy are extracted on the basis of a kinematic principle, and a redundancy motion parameter changing curve is drawn to obtain the motion trail of the redundancy. The method is applied to the detection of the motion trail of the redundancy in the sealed device.
Description
Technical field
The present invention relates to the motion process analysis field, particularly the motion process analytic approach of image processing.
Background technology
Fifth wheel is one of principal element of the military electronic devices and components reliability of impact.In aerospace relay manufacturing process, in may being encapsulated in the excess micro-particles such as some metal fillings, scolding tin slag, rosin, sealant.These particulates cause the short circuit (misleading) between relay contact or open circuit (opening by mistake disconnected) most probably, also might cause the electromagnetic system of relay the misoperations such as mechanism blockage to occur, cause of serious failure.Because the inner removable excess micro-particle of relay causes the emission interruption of service of carrier rocket, satellite, guided missile, space shuttle repeatedly to occur, and has caused the loss that can't estimate.
The fifth wheel detection method of commonly using both at home and abroad at present comprises: microscopic examination method, radiograph method, Ma Tela detection method and Particle Impact Noise Detection (Particle Impact Noise Detection, PIND) method etc.Wherein, the PIND method is because its detection efficiency is high, characteristics with low cost at home and abroad are used widely, and is must do detection before the sealed electronic element of a lot of national regulations dispatches from the factory.A large amount of production applications practices all show the existing PIND test method part that comes with some shortcomings.The PIND test condition is to affect the key factor that PIND detects effect, the excess micro-particle that inappropriate possibly of test condition can't effectively activate relay inside causes fails to judge, also may produce excessive stress at the structure member of relay, relay is caused very large potential hazard.Research for the PIND test condition is comparatively deficient at present.
Fifth wheel detects the essence of test condition research, is the suitable condition of selecting under the prerequisite of not damaging tested device, and the voice signal intensity that the collision of fifth wheel and tested device inwall is produced is maximum.Obviously, under the identical prerequisite of other conditions, the relative velocity before fifth wheel and the collision of tested device inwall is larger, collide strongly with regard to Shaoxing opera, and the voice signal intensity of generation is just larger.Fifth wheel can be used as the foundation of judging detection test condition quality at the kinematic parameter of tested device inside.The research motion process of excess micro-particle in testing process, the analysis that detects the research of test condition and excess micro-particle collision alarm for fifth wheel all tool is of great significance.According to the report of present association area, the research that fifth wheel is detected test condition and fifth wheel motion process is based on the mode of modeling derivation and simulation analysis substantially, can not be to the motion process of observation fifth wheel, and visual research almost has no relevant report.
Summary of the invention
In the inner fifth wheel detection technique of existing packoff field; the problem of the technological means that movement locus of excess micro-particle in testing process is not detected the present invention proposes in the inner fifth wheel testing process of a kind of packoff the fifth wheel movement locus acquisition methods based on camera technique.
Concrete steps based on the fifth wheel movement locus acquisition methods of camera technique in the inner fifth wheel testing process of packoff are as follows:
Steps A 1: fifth wheel test specimen to be measured is put into seal chamber inside, and the sealing cavity adopts transparent material, the sealing cavity is fixed on the shaking table of fifth wheel test macro;
Steps A 2: adjust video camera, guarantee seal chamber in the vibration processes of fifth wheel test macro all the time in the visual field of video camera, keep position and the attitude of video camera constant;
Steps A 3: start the fifth wheel test macro and make the shaking table vibration, set time of vibration, carry out the fifth wheel test experience; In fifth wheel test experience process, adopt video camera to take the acquisition image sequence, the image in the described image sequence is RGB three look patterns;
Steps A 4: each width of cloth image in the image sequence that obtains is carried out Gamma correction and gray scale processing, be converted to the grayscale image sequence of 2 dimensional patterns;
Steps A 5: each width of cloth image in the image sequence is carried out the filtering de-noising with median filter method;
Steps A 6: adopt in the image of Roberts operator after each width of cloth de-noising fifth wheel is carried out rim detection;
Steps A 7: the parameter of extracting the relative position of position, cavity position and the fifth wheel barycenter of the fifth wheel barycenter of each width of cloth image and cavity position;
Steps A 8: according to position, cavity position and the fifth wheel barycenter of the fifth wheel barycenter of each width of cloth image in the image sequence and the relative position of cavity position, calculate the speed that obtains fifth wheel and the kinematic parameter of acceleration according to kinematic principle;
Steps A 9: draw the kinematic parameter change curve according to the fifth wheel kinematic parameter that obtains, obtain the fifth wheel movement locus.
The video camera that adopts among the present invention is high-speed camera, High-speed Photography Technology is a series of technology such as light, mechanical, electrical, the photoelectric sensor of comprehensive utilization and computing machine, time shutter in signa to the special photograph between hundreds of thousands/one second, can capture the image transient, that human eye has little time to see clearly, be a kind of effective means that records a certain instantaneous state of high-speed motion process or whole courses.At present, it has been widely used in the fields such as scientific research, Aero-Space, physical culture, film, industry, agricultural.The advantages such as it has that precision height, speed are fast, the picture of maneuverability and shooting is large, quantity of information is many can obtain in a large number, space time information accurately, can provide reliable foundation for the movement locus of the fifth wheel that obtains high-speed motion.
Seal chamber among the present invention adopts transparent material to make; can realize obtaining from the outside purpose of inside cavity fifth wheel image; and then realization is based on the fifth wheel movement locus acquisition methods of camera technique; can be by the fifth wheel testing process in the special transparent shell of observation; use the kinematic parameter of image processing and data analysis technique acquisition particulate, and based on motion is realized the checking of optimum test condition.
The inner fifth wheel motion process of packoff analytical approach based on High-speed Photography Technology provides a kind of verification method directly perceived, reliable for the research fifth wheel detects the mechanical test condition, can directly observe the above fifth wheel of diameter 1mm at the motion process of transparent sealing inside cavity; Continuous recording great many of experiments image carries out necessary pre-service to image automatically; Automatically calculate the kinematic parameter of fifth wheel and annular seal space body wall, draw and storing moving parameter change curve, and then obtain the movement locus of fifth wheel, for the research of fifth wheel detection technique is laid a good foundation.
Description of drawings
Fig. 1 is based on the fifth wheel movement locus acquisition methods general flow chart of camera technique in the inner fifth wheel testing process of packoff.
Fig. 2 is the process flow diagram that extracts the parameter of the position of fifth wheel barycenter of each width of cloth image and cavity position.
Fig. 3 calculates the process flow diagram that obtains the fifth wheel kinematic parameter.
Fig. 4 is that the gray matrix threshold method extracts fifth wheel position process flow diagram.
Fig. 5 proofreaies and correct and the front image of gray scale processing through Gamma.
Fig. 6 is through the image after Gamma correction and the gray scale processing.
Fig. 7 is the image before filtering is processed.
Fig. 8 is the image after filtering is processed.
Fig. 9 is straight line leaching process Hough space converted image.
Figure 10 is the extraction result images of wall position.
Embodiment
Embodiment one: according to Fig. 1 present embodiment is described, the concrete steps of the inner fifth wheel motion process of the described packoff based on High-speed Photography Technology of present embodiment analytical approach are as follows:
Steps A 1: fifth wheel test specimen to be measured is put into seal chamber inside, and the sealing cavity adopts transparent material, the sealing cavity is fixed on the shaking table of fifth wheel test macro;
Steps A 2: adjust video camera, guarantee seal chamber in the vibration processes of fifth wheel test macro all the time in the visual field of video camera, keep position and the attitude of video camera constant;
Steps A 3: start the fifth wheel test macro and make the shaking table vibration, set time of vibration, carry out the fifth wheel test experience; In fifth wheel test experience process, adopt video camera to take the acquisition image sequence, the image in the described image sequence is RGB three look patterns;
Steps A 4: each width of cloth image in the image sequence that obtains is carried out Gamma correction and gray scale processing, be converted to the grayscale image sequence of 2 dimensional patterns, referring to Fig. 5 and Fig. 6, Fig. 5 proofreaies and correct and the front image of gray scale processing through Gamma, and Fig. 6 is through the image after Gamma correction and the gray scale processing;
Steps A 5: with median filter method each width of cloth image in the image sequence is carried out the filtering de-noising, referring to Fig. 7 and Fig. 8, Fig. 7 is the image before filtering is processed, and Fig. 8 is the image after filtering is processed;
Steps A 6: adopt in the image of Roberts operator after each width of cloth de-noising fifth wheel is carried out rim detection;
Steps A 7: the parameter of extracting the relative position of position, cavity position and the fifth wheel barycenter of the fifth wheel barycenter of each width of cloth image and cavity position;
Steps A 8: according to position, cavity position and the fifth wheel barycenter of the fifth wheel barycenter of each width of cloth image in the image sequence and the relative position of cavity position, calculate the speed that obtains fifth wheel and the kinematic parameter of acceleration according to kinematic principle;
Steps A 9: draw the kinematic parameter change curve according to the fifth wheel kinematic parameter that obtains, obtain the fifth wheel movement locus.
In the said method, steps A 5 adopts median filter method that each width of cloth image in the image sequence is carried out the filtering de-noising, when carrying out fifth wheel motion process image acquisition, need to use image enhancement technique can effectively eliminate noise, because the data processing amount of native system is larger, so the image enchancing method in main usage space territory.Noise contribution in the fifth wheel image is comparatively complicated.Common low-pass filtering, when filtering low-frequency noise, meeting is so that obscurity boundary; Gaussian filtering can promote edge contour, but has strengthened simultaneously noise.In summary, the image enchancing method of native system should be taken into account filter effect and edge effect, and calculates quick.
Median filtering algorithm is isolated again de-noising of noise first, has protected marginal information, thus the soft edge of preventing.The outstanding feature of fifth wheel moving image just noise is relatively many, and the edge blur effect is larger.
In addition, when the contrast district value of median filter method is 2*2, better effects if when filter effect is 3*3 than value.Therefore, to have adopted the contrast district value be the median filter method of 2*2 to the image processing links of native system.
Steps A 6 in the said method adopts in the image of Roberts operators after each width of cloth de-noising carries out rim detection to fifth wheel, and this step is in the image after de-noising fifth wheel to be carried out rim detection, so that follow-up kinematic parameter extracts.
Rim detection has been rejected and can have been thought incoherent information when keeping image important structure attribute, also is the basis of realizing based on the image segmentation on border.Above-mentioned edge detection algorithm should have following characteristics:
1) effective to spherical image detection, because native system is sphere for the convenient selected fifth wheel of observation.
2) effective to the extreme point detection of pattern edge, because the rim detection of native system is to be that follow-up fifth wheel barycenter extracts, comparatively responsive to the extreme point position.
3) computing velocity is fast, because the data processing amount of native system is larger.
Steps A 8 in the said method, to calculate the fifth wheel kinematic parameter according to kinematic principle, because the position of fifth wheel in image is unfixing, in order to reduce operand, carrying out needing to determine first the position range of fifth wheel in image before the fifth wheel barycenter extracts.Position and profile according to fifth wheel calculate its centroid position, and binding cavity body wall location parameter calculates the fifth wheel kinematic parameter at last.
The described method of present embodiment detects test platform in conjunction with existing fifth wheel, by high-speed camera the fifth wheel in the transparent sealing cavity in the vibration processes is taken, use suitable algorithm for image enhancement that image is carried out pre-service, extract the position of fifth wheel and cavity inner wall by technique of image edge detection, based on motion is learned the kinematic parameter that principle is extracted fifth wheel, and draws the variation diagram of fifth wheel kinematic parameter.
Embodiment two: the difference of the described inner fifth wheel motion process of the packoff analytical approach based on High-speed Photography Technology of present embodiment and embodiment one is that the video camera shooting speed in the described steps A 3 is ten thousand frame per seconds to ten, ten thousand frame per seconds.
Embodiment three: the difference of the described inner fifth wheel motion process of the packoff analytical approach based on High-speed Photography Technology of present embodiment and embodiment one is, described video camera is placed on the three-dimensional slide unit, adjusts position and the attitude of video camera by three-dimensional slide unit.
Embodiment four: present embodiment is described in conjunction with Fig. 2, the difference of the described inner fifth wheel motion process of the packoff analytical approach based on High-speed Photography Technology of present embodiment and embodiment one is that the process of the parameter of position, cavity position and the fifth wheel barycenter of the fifth wheel barycenter of each width of cloth image of extraction in the described steps A 7 and the relative position of cavity position is as follows:
Step B1: the gray level image of reading images, carry out image with histogram enhancement and image sharpening enhancing and process;
Step B2: image is carried out the fifth wheel barycenter extract the position y of barycenter
Ball (n)Expression, wherein n represents the sequence number of this image in image sequence;
Step B3: image is carried out the extraction of cavity position, cavity position y
Wall (n)Expression;
Step B4: the relative position S=y that calculates fifth wheel barycenter and cavity position
Ball (n)-y
Wall (n)
Embodiment five: the difference of the described inner fifth wheel motion process of the packoff analytical approach based on High-speed Photography Technology of present embodiment and embodiment four is, the process of kinematic parameter that the calculating in the described steps A 8 obtains the speed of fifth wheel and acceleration is as follows:
Step C1: whether judge relative position S greater than distance threshold,
Step C2: be then to continue execution in step C1;
Step C3: otherwise obtain displacement L=y
Ball (n)-y
Ball (n-1)
Step C4: according to the speed of fifth wheel and the kinematic parameter of acceleration in the relative position of position, cavity position, fifth wheel barycenter and the cavity position of time shutter of video camera, fifth wheel barycenter and the displacement sequence of computed images.
After the location positioning of excess centroid position and seal chamber wall, the time shutter of known shooting, contrast two adjacent or close width of cloth fifth wheel moving images and can try to achieve the parameters such as move distance, speed and acceleration of fifth wheel, image before and after contrast fifth wheel and the collision of seal chamber wall can be in the hope of the energetic coefficient of restitution of fifth wheel in the speed before and after the collision and the collision process.
The establishing method of described distance threshold:
1) at first apart from the minimum value threshold value can be set as pixel value even picture be 340*680, namely represent X coordinate 340 frames, Y coordinate 640 frames, the discernible minor increment of video camera is 1 frame, so distance threshold can be set as minimum value 1.
2) set as required: be not that threshold value is made as minimum value is exactly preferred plan, if excess micro-particle radius (or diameter) is very large, if the threshold value of choosing (with the interval of wall) only is 1, have big difference with the excess micro-particle radius, then need the pictorial information amount of screening larger, and finally process that to obtain picture effect not obvious.Generally the distance threshold size is set as the accuracy value that needs and gets final product, such as fifth wheel radius 1mm, precision needs 0.1mm, then can be according to the shared size in fifth wheel position in picture, and passing ratio converts, and can obtain desired threshold.
Embodiment six: the difference of the described inner fifth wheel motion process of the packoff analytical approach based on High-speed Photography Technology of present embodiment and embodiment four is, the extraction of the cavity position among the described step B3 is extracted the measured device inner wall position with the Hough conversion, referring to Fig. 9 and Figure 10, Fig. 9 is straight line leaching process Hough space converted image, and Figure 10 is the extraction result images of wall position.
Embodiment seven: the difference of the described inner fifth wheel motion process of the packoff analytical approach based on High-speed Photography Technology of present embodiment and embodiment four is, the extraction of the fifth wheel barycenter among the described step B2 is to adopt first the gray matrix threshold method to extract the fifth wheel position, calculates the barycenter of fifth wheel with the extreme value algorithm again.
Embodiment eight: present embodiment is described in conjunction with Fig. 4, the difference of the described inner fifth wheel motion process of the packoff analytical approach based on High-speed Photography Technology of present embodiment and embodiment four is, described to extract the concrete steps of fifth wheel position with the gray matrix threshold method as follows:
Step D1: from gray level image, read two-dimensional matrix, according to fifth wheel zone in the image, determine the screening threshold range;
Step D2; Determine fifth wheel zone numerical value variation range, the minimum value of fifth wheel zone numerical value variation range is made as pixel threshold;
Step D3; Judge that whether each number in the two-dimensional matrix is more than or equal to pixel threshold;
Step D4: be that this numerical value is become 255;
Step D5: no this numerical value is become 0, pixel number is the then fifth wheel position for extracting, 255 zone.
Above-mentioned gray matrix threshold method refers to that gray-scale image is the image that each pixel only has a sample color, this class image is shown as the gray scale from furvous to the brightest white usually, after the gray scale processing, image is converted into two-dimensional matrix by RGB three dimensions, and has 256 grades of gray scales.The two-dimensional matrix of gray level image is extracted, and according to the fifth wheel zone, determine the screening threshold range.
Claims (8)
- In the inner fifth wheel testing process of packoff based on the fifth wheel movement locus acquisition methods of camera technique, it is characterized in that it may further comprise the steps:Steps A 1: fifth wheel test specimen to be measured is put into seal chamber inside, and the sealing cavity adopts transparent material, the sealing cavity is fixed on the shaking table of fifth wheel test macro;Steps A 2: adjust video camera, guarantee seal chamber in the vibration processes of fifth wheel test macro all the time in the visual field of video camera, keep position and the attitude of video camera constant;Steps A 3: start the fifth wheel test macro and make the shaking table vibration, set time of vibration, carry out the fifth wheel test experience; In fifth wheel test experience process, adopt video camera to take the acquisition image sequence, the image in the described image sequence is RGB three look patterns;Steps A 4: each width of cloth image in the image sequence that obtains is carried out Gamma correction and gray scale processing, be converted to the grayscale image sequence of 2 dimensional patterns;Steps A 5: each width of cloth image in the image sequence is carried out the filtering de-noising with median filter method;Steps A 6: adopt in the image of Roberts operator after each width of cloth de-noising fifth wheel is carried out rim detection;Steps A 7: the parameter of extracting the relative position of position, cavity position and the fifth wheel barycenter of the fifth wheel barycenter of each width of cloth image and cavity position;Steps A 8: according to position, cavity position and the fifth wheel barycenter of the fifth wheel barycenter of each width of cloth image in the image sequence and the relative position of cavity position, calculate the speed that obtains fifth wheel and the kinematic parameter of acceleration according to kinematic principle;Step 9: draw the kinematic parameter change curve according to the fifth wheel kinematic parameter that obtains, obtain the fifth wheel movement locus.
- In the inner fifth wheel testing process of packoff according to claim 1 based on the fifth wheel movement locus acquisition methods of camera technique, it is characterized in that the video camera shooting speed in the described steps A 3 is ten thousand frame per seconds to ten, ten thousand frame per seconds.
- In the inner fifth wheel testing process of packoff according to claim 1 based on the fifth wheel movement locus acquisition methods of camera technique; it is characterized in that; described video camera is placed on the three-dimensional slide unit, adjusts position and the attitude of video camera by three-dimensional slide unit.
- In the inner fifth wheel testing process of packoff according to claim 1 based on the fifth wheel movement locus acquisition methods of camera technique; it is characterized in that the process of the parameter of position, cavity position and the fifth wheel barycenter of the fifth wheel barycenter of each width of cloth image of extraction in the described steps A 7 and the relative position of cavity position is as follows:Step B1: the gray level image of reading images, carry out image with histogram enhancement and image sharpening enhancing and process;Step B2: image is carried out the fifth wheel barycenter extract the position y of barycenter Ball (n) expression, wherein n represents the sequence number of this image in image sequence;Step B3: image is carried out the extraction of cavity position, cavity position y Wall (n)Expression;Step B4: the relative position S=y that calculates fifth wheel barycenter and cavity position Ball (n)-y Wall (n)
- In the inner fifth wheel testing process of packoff according to claim 4 based on the fifth wheel movement locus acquisition methods of camera technique; it is characterized in that the process of the speed of the calculating acquisition fifth wheel in the described steps A 8 and the kinematic parameter of acceleration is as follows:Step C1: judge that whether relative position S is greater than distance threshold;Step C2: be then to continue execution in step C1;Step C3: otherwise obtain displacement L=y Ball (n)-y Ball (n-1)Step C4: according to the speed of fifth wheel and the kinematic parameter of acceleration in the relative position of position, cavity position, fifth wheel barycenter and the cavity position of time shutter of video camera, fifth wheel barycenter and the displacement sequence of computed images.
- In the inner fifth wheel testing process of packoff according to claim 4 based on the fifth wheel movement locus acquisition methods of camera technique, it is characterized in that the extraction of the cavity position among the described step B3 is extracted the measured device inner wall position with the Hough conversion.
- In the inner fifth wheel testing process of packoff according to claim 4 based on the fifth wheel movement locus acquisition methods of camera technique; it is characterized in that; the extraction of the fifth wheel barycenter among the described step B2 is to adopt first the gray matrix threshold method to extract the fifth wheel position, calculates the barycenter of fifth wheel with the extreme value algorithm again.
- In the inner fifth wheel testing process of packoff according to claim 7 based on the fifth wheel movement locus acquisition methods of camera technique, it is characterized in that described to extract the concrete steps of fifth wheel position with the gray matrix threshold method as follows:Step D1: from gray level image, read two-dimensional matrix, according to fifth wheel zone in the image, determine the screening threshold range;Step D2; Determine fifth wheel zone numerical value variation range, the minimum value of fifth wheel zone numerical value variation range is made as pixel threshold;Step D3; Judge that whether each number in the two-dimensional matrix is more than or equal to pixel threshold;Step D4: be that this numerical value is become 255;Step D5: no this numerical value is become 0, pixel number is the then fifth wheel position for extracting, 255 zone.
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Application publication date: 20130109 |