CN102889883A - Object space attitude measurement device - Google Patents
Object space attitude measurement device Download PDFInfo
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- CN102889883A CN102889883A CN2012104111220A CN201210411122A CN102889883A CN 102889883 A CN102889883 A CN 102889883A CN 2012104111220 A CN2012104111220 A CN 2012104111220A CN 201210411122 A CN201210411122 A CN 201210411122A CN 102889883 A CN102889883 A CN 102889883A
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- supernatant liquid
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- groove
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Abstract
The invention discloses an object space attitude measurement device which comprises an optical measurement platform (1), sliding rails (2), cameras (4), a constant-temperature bath (5), a floating liquid groove (6), a standard block (7), a temperature sensor (8) and an industrial control machine (9); the constant-temperature bath (5) is fixed at the center of the optical measurement platform (1); two sliding rails (2) are fixed on the optical measurement platform (1); each sliding rail (2) is provided with a camera (4); the floating liquid groove (6) is fixed in the constant-temperature bath (5) which is filled with water; the floating liquid groove (6) is internally provided with floating liquid; and the temperature of the floating liquid can be controlled through heating or cooling water; the standard block (7) and the temperature sensor (8) are fixed on the inner wall of the floating liquid groove (6); and the two cameras (4) are calibrated through the standard block (7); a measured object is arranged in the floating liquid, and the temperature information, height information and angle information of the measured object are obtained in real time through the two cameras (4) and the temperature sensor (8).
Description
Technical field
The present invention relates to the floating balance test system of a kind of object liquid, particularly a kind of device that detects testee attitude information and temperature information in supernatant liquid.
Background technology
Float assembly is the vitals of inertia type instrument, provides the accurately critical component of the information such as orientation, level, position, speed and acceleration.The static-unbalance of float assembly (barycenter is unstable) is the key index that affects the inertia type instrument performance, and whether its barycenter is consistent with the centre of buoyancy, and can the information such as the two ends difference in height when it suspends and roll angle have determined its pack into inertia type instrument and use of fighting.Inertia type instrument is precision instrument, and serviceable life is generally more than 10 years, and is in order accurately to evaluate the performance index of float assembly in the inertia type instrument, therefore imperative to the static equilibrium of float assembly.
Traditional measuring method is manual single float is tested one by one, the test macro and the testing process that do not have regularization, balance quality depends on the experience that human eye and operator are engaged in float static equilibrium work to a great extent, the different operating workman had directly affected accuracy and the precision measured for the reading error of size when accuracy requirement was high, and this method of testing causes when test individual difference very large, can't carry out the test of mass.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, a kind of object space attitude measuring based on computer vision is provided, can improve efficient and the precision of object space attitude measurement.
Technical solution of the present invention is: a kind of object space attitude measuring comprises optical detecting platform, slide rail, video camera, thermostatic bath, supernatant liquid groove, calibrated bolck, temperature sensor and industrial computer; The optical detecting platform is levelling bench, and thermostatic bath is fixed on the central authorities of optical detecting platform, is fixed with respectively two slide rails in the horizontal direction with on the vertical direction on the optical detecting platform, all by support a video camera is installed on each bar slide rail; The supernatant liquid groove is fixed in the thermostatic bath, and water is housed in the thermostatic bath, in the supernatant liquid groove supernatant liquid is housed, and realizes the temperature of supernatant liquid is controlled by heating or cooling to water; Calibrated bolck and temperature sensor are fixed on the inwall of supernatant liquid groove, and described calibrated bolck is marked with horizontal groove, and two video cameras are finished the coordinate demarcation of image pixel by the horizontal groove on the calibrated bolck; The temperature value real-time Transmission of the supernatant liquid that temperature sensor obtains is to industrial computer; Testee places supernatant liquid, also indicate horizontal groove on the testee, the difference in height of the top of two video camera Real-time Obtaining testees and the difference in height of supernatant liquid trench bottom, testee high order end and low order end and the angle communication of the horizontal groove on the testee and horizontal direction obtain elevation information and the angle information of testee to industrial computer by industrial computer; Temperature sensor obtains that when the temperature variation of supernatant liquid testee begins to float and two temperature spots sinking are transferred to industrial computer in supernatant liquid, obtain the temperature information of testee by industrial computer.
The present invention's advantage compared with prior art is: measurement mechanism of the present invention uses the temperature of industrial computer control and measurement supernatant liquid, use the method for computer vision measurement, testee is carried out the real-time detection of attitude information and temperature information, easy to use, testing staff that need not be special, be applicable to the test of testee attitude and temperature information in supernatant liquid, do not need artificial reading during use, measuring accuracy and accuracy have been improved, and easy to use, reduce the cost of this class Meter Test, solved the problem that the Meter Test error is large, the time is long.
Description of drawings
Fig. 1 is the theory of constitution figure of measurement mechanism of the present invention;
Fig. 2 is supernatant liquid groove structure and the device arrangements synoptic diagram of measurement mechanism of the present invention;
Fig. 3 is the workflow diagram of industrial computer of the present invention.
Embodiment
As shown in Figure 1, be object space attitude measuring of the present invention, i.e. citation form of the present invention, it is comprised of optical detecting platform 1, slide rail 2, support 3, video camera 4, thermostatic bath 5, supernatant liquid groove 6, calibrated bolck 7, temperature sensor 8, industrial computer 9.
Installation steps are as follows: (1) is installed in optical detecting platform 1 on four pillars by trip bolt, adjusts four pillars and makes optical detecting platform 1 level; (2) by trip bolt thermostatic bath 5 is fixed on the central authorities of optical detecting platform 1, wherein fills water; Slide rail 2 is fixed on the dead ahead and positive side both direction of optical detecting platform 1 by mounting screw, makes slide rail 2 vertical with thermostatic bath 5, and position by thermostatic bath 5; (3) supernatant liquid groove 6 is installed on the carriage 10 in the thermostatic bath 5; (4) support 3 is installed on the slide rail 2, and by slide rail 2 location; Video camera 4 is fixed on the support 3 by mount pad; (5) come adjusting focal length and enlargement factor by calibrated bolck 7 adjustment video cameras 4 and support 3 with the distance of supernatant liquid groove 6, image covers the upper-lower position scope of testee motion, and it is clear that focal length reaches, and enlargement factor reaches the accuracy requirement value; (6) by the height control video camera 4 of testee and the height of support 3, tighten mounting screw after adjusting, fix support 3, video camera 4; (7) industrial computer 9 and thermostatic bath 5 link to each other by serial ports, finish the temperature control and measurement function of 9 pairs of thermostatic baths 5 of industrial computer, and supernatant liquid groove 6 is placed testee wherein after being full of supernatant liquid, then can detect the position-temperature information of testee.
As shown in Figure 2, reach the synoptic diagram of the relevant components and parts of wherein arranging for the thermostatic bath 5 of object space attitude measuring of the present invention, wherein calibrated bolck 7 is fixed on the inwall of supernatant liquid groove 6, temperature sensor 8 is fixed in the supernatant liquid groove 6, and temperature sensor 8 is measured the accurate temperature value of supernatant liquid groove 6 interior supernatant liquids and by serial ports temperature information transferred to industrial computer 9 in real time.The slide rail gib screw is tightened in conjunction with the position of testee size fixed rack 2 and video camera 4 in position by supernatant liquid groove 6, guarantees that primary calibration effectively namely reaches requirement.
It should be noted that optical detecting platform 1, slide rail 2, support 3 material therefors and job operation should guarantee that dimensional accuracy is stable.Thermostatic bath 5, supernatant liquid groove 6 material therefors should guarantee that flatness is high, and refractive index is low, and temperature accuracy is less than 0.05 ℃.
Initial time, two video cameras 4 (being called respectively front camera and side video camera here) are demarcated by the coordinate that calibrated bolck 7 the grooves positive and side carry out video camera 4, accurately calculate the physical size of pixel in the image, the lower limb line of supernatant liquid groove 6 is demarcated and is 0 altitude scale line in video camera 4 coordinates.After beginning to measure, two video camera 4 independent front video image and side video images to testee gather, the difference in height of elevation information, testee high order end and the low order end of the positive video camera 4 Real-time Feedback testees of installing, the video camera 4 Real-time Feedback testee hand mark lines that install the side and the angle information of horizontal direction.Video camera 4 positive and that install the side transfers data to respectively industrial computer 9 by serial ports, and the video image of 9 pairs of front camera transmission of industrial computer carries out attitude-temperature information that pre-service and edge extracting etc. are processed rear comprehensive feedback testee.Temperature by 9 pairs of thermostatic baths 5 of industrial computer is controlled, and when the temperature of thermostatic bath 5 rose or descends, temperature variation was delivered in the supernatant liquid groove 6, realizes come-up or the sinking of testee, the temperature spot in the time of can obtaining thus testee come-up or sinking.The workflow of this system as shown in Figure 3.
The content that is not described in detail in the instructions of the present invention belongs to those skilled in the art's known technology.
Claims (1)
1. an object space attitude measuring is characterized in that comprising: optical detecting platform (1), slide rail (2), video camera (4), thermostatic bath (5), supernatant liquid groove (6), calibrated bolck (7), temperature sensor (8) and industrial computer (9); Optical detecting platform (1) is levelling bench, thermostatic bath (5) is fixed on the central authorities of optical detecting platform (1), be fixed with respectively two slide rails (2) in the horizontal direction with on the vertical direction on the optical detecting platform (1), all by support (3) video camera (4) be installed on each bar slide rail (2); Supernatant liquid groove (6) is fixed in the thermostatic bath (5), and thermostatic bath is equipped with water in (5), and the supernatant liquid groove is equipped with supernatant liquid in (6), realizes the temperature of supernatant liquid is controlled by heating or cooling to water; Calibrated bolck (7) and temperature sensor (8) are fixed on the inwall of supernatant liquid groove (6), described calibrated bolck (7) is marked with horizontal groove, and the coordinate that two video cameras (4) are finished image pixel by the horizontal groove on the calibrated bolck (7) is demarcated; The temperature value real-time Transmission of the supernatant liquid that temperature sensor (8) obtains is to industrial computer (9); Testee places supernatant liquid, also indicate horizontal groove on the testee, the difference in height of difference in height, testee high order end and the low order end of the top of two video cameras (4) Real-time Obtaining testee and supernatant liquid groove (6) bottom and the angle communication of the horizontal groove on the testee and horizontal direction obtain elevation information and the angle information of testee to industrial computer (9) by industrial computer (9); Temperature sensor (8) obtains that when the temperature variation of supernatant liquid testee begins to float and two temperature spots sinking are transferred to industrial computer (9) in supernatant liquid, obtain the temperature information of testee by industrial computer (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210411122.0A CN102889883B (en) | 2012-10-24 | 2012-10-24 | Object space attitude measurement device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210411122.0A CN102889883B (en) | 2012-10-24 | 2012-10-24 | Object space attitude measurement device |
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| Publication Number | Publication Date |
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| CN102889883A true CN102889883A (en) | 2013-01-23 |
| CN102889883B CN102889883B (en) | 2014-11-19 |
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| CN201210411122.0A Active CN102889883B (en) | 2012-10-24 | 2012-10-24 | Object space attitude measurement device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109540084A (en) * | 2018-10-25 | 2019-03-29 | 北京航天控制仪器研究所 | The measurement method and device of part 3 d pose in a kind of supernatant liquid |
| CN109597445A (en) * | 2018-11-20 | 2019-04-09 | 中国船舶重工集团公司第七0七研究所 | A kind of method of accurate control gyro static balancing device temperature |
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| US20030058111A1 (en) * | 2001-09-27 | 2003-03-27 | Koninklijke Philips Electronics N.V. | Computer vision based elderly care monitoring system |
| CN201355241Y (en) * | 2008-10-30 | 2009-12-02 | 北京航空航天大学 | Visual-based space target pose measuring device |
| CN102519671A (en) * | 2011-12-26 | 2012-06-27 | 北京航空航天大学 | Space position and gesture measuring device based on binocular vision and used for measuring gyroscope static balance |
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2012
- 2012-10-24 CN CN201210411122.0A patent/CN102889883B/en active Active
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| US20030058111A1 (en) * | 2001-09-27 | 2003-03-27 | Koninklijke Philips Electronics N.V. | Computer vision based elderly care monitoring system |
| CN201355241Y (en) * | 2008-10-30 | 2009-12-02 | 北京航空航天大学 | Visual-based space target pose measuring device |
| CN102519671A (en) * | 2011-12-26 | 2012-06-27 | 北京航空航天大学 | Space position and gesture measuring device based on binocular vision and used for measuring gyroscope static balance |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109540084A (en) * | 2018-10-25 | 2019-03-29 | 北京航天控制仪器研究所 | The measurement method and device of part 3 d pose in a kind of supernatant liquid |
| CN109597445A (en) * | 2018-11-20 | 2019-04-09 | 中国船舶重工集团公司第七0七研究所 | A kind of method of accurate control gyro static balancing device temperature |
| CN109597445B (en) * | 2018-11-20 | 2020-09-01 | 中国船舶重工集团公司第七0七研究所 | Method for accurately controlling temperature of gyro static balancer |
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| CN102889883B (en) | 2014-11-19 |
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