CN103776603A - Trampoline detecting device and method - Google Patents

Trampoline detecting device and method Download PDF

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Publication number
CN103776603A
CN103776603A CN201410049735.3A CN201410049735A CN103776603A CN 103776603 A CN103776603 A CN 103776603A CN 201410049735 A CN201410049735 A CN 201410049735A CN 103776603 A CN103776603 A CN 103776603A
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video camera
trampoline
ball
image
camera
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CN103776603B (en
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吴兴华
马立修
孙亚灿
曹立军
万隆
孙梦颜
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Shandong University of Technology
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Shandong University of Technology
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Abstract

The invention discloses a trampoline detecting device and method, and belongs to the technical field of trampoline detecting. A speed adjusting motor (15) is fixed to a detecting position adjustment mechanism, connected with a motor controller, and controlled by the motor controller to be accelerated to reversely rotate, an impacting ball (19) performs completely free falling, a first camera (9) and a second camera (10) shoot rebounding images of the impacting ball (19), a third camera (12) shoots sunk images of the net face of a trampoline (1), and the first camera (9) and the second camera (10) receive pulse signals to respectively capture one image at the same time. The trampoline detecting method includes the steps of converting the captured color images into binary images, computing pixel difference values of the gravity center of the impacting ball (19) relative to the central points of the images, and obtaining the three-dimensional displacement of the impacting ball (19) and the sunk depths of the trampoline (1) through products of the pixel difference values and space resolutions. The trampoline detecting device has the advantages of being simple in structure, convenient to detect, accurate in result and the like.

Description

Trampoline checkout equipment and detection method
Technical field
Trampoline checkout equipment and detection method, belong to trampoline detection technique field, be specifically related to a kind of detect impact ball freely falling body impact rebound height after trampoline and laterally, checkout equipment and the detection method of vertical misalignment amount.
Background technology
For making all trampolinists have the chance of fair competition, must control the performance of trampoline and dwindle the difference between contest and exercise equipment as far as possible, International Track and Field Association requires trampoline to detect, detection method is to utilize impact ball to impact trampoline after specified altitude freely falling body, utilize camera record to impact ball rebound height and horizontal, longitudinal side-play amount, also comprise the sagging degree of depth of trampoline net.Conventional detection method is direct linear conversion method at present, reconstruct that can implementation space three-dimensional coordinate by two above video cameras, realize the detection of impacting ball, this method needs calibrating camera in advance, and the calibration process of video camera is very complicated, need at least 6 reference mark, generally need to be greater than 16 reference mark parameter of calibrating camera comparatively accurately, and in calibration process, easily introduce calibrated error, the parameter of camera also easily in time, installation process changes in transportation, stadiums, causes impacting inaccurate that ball measures.
Summary of the invention
The technical problem to be solved in the present invention is: overcome the deficiencies in the prior art, provide one not need calibrating camera in advance, performance to video camera and installation accuracy require low, simple in structure, testing result is accurate, easy to detect trampoline checkout equipment and detection method.
The technical solution adopted for the present invention to solve the technical problems is: this trampoline checkout equipment, comprise trampoline and impact ball, it is characterized in that: above trampoline, be fixed with the detection position adjusting mechanism that drives impact ball to move in surface level, on the adjusting mechanism of detection position, be fixed with electromagnet and buncher, impact ball and be adsorbed on electromagnet downside, and connect buncher by safety rope, buncher is connected with electric machine controller, electric machine controller can be controlled buncher and accelerate to rotate, and makes to impact the complete freely falling body of ball; Can move to different detection positions by impacting ball by detection position adjusting mechanism, can keep impacting the pin-point accuracy of ball;
Detection position adjusting mechanism is in X-axis, to be fixed with a vertical video camera fixed bar in the horizontal direction of impacting ball, on video camera fixed bar, be provided with successively the first video camera, the second video camera and the 3rd video camera from top to bottom, the resilience image that impacts ball is taken in trampoline top in the first video camera and the second position for video camera, the sagging image of trampoline net is taken in the 3rd position for video camera in trampoline below, the first video camera and the second video camera are connected with camera control unit, camera control unit output pulse signal, controls the first video camera and the second video camera and gathers a sub-picture simultaneously.The image that the first video camera and the second video camera gather need to calculate and can draw three-dimensional coordinate in the time impacting ball X at same position, so necessarily require the first video camera and the second video camera to gather image simultaneously, guarantees the accuracy of data.
Described detection position adjusting mechanism comprises vertical support column, longitudinal sliding block and transverse slider, four support columns are separately fixed on four angles of trampoline, the support column upper end of the longitudinal both sides of trampoline is fixed with respectively longitudinally guiding post, longitudinal sliding block slides and is fixed on longitudinally guiding post, between two longitudinal sliding blocks, be fixed with laterally steering post, transverse slider slides and is fixed on laterally steering post, buncher and electromagnet are fixed on transverse slider, longitudinal sliding block is connected with the longitudinal driving mechanism that drives its longitudinal sliding motion, transverse slider is connected with the transversal driving mechanism that drives it laterally to slide.
Described longitudinal driving mechanism comprises longitudinal motor and longitudinal belt, longitudinally motor is fixed on a support column upper end, and longitudinal belt revolution connects longitudinal motor, and longitudinal belt upside is fixedly connected with longitudinal sliding block, longitudinal sliding block downside longitudinally offers groove, and longitudinal belt downside slides in groove; Described transversal driving mechanism comprises cross motor and horizontal belt, cross motor is fixed on longitudinal sliding block, and laterally belt revolution connects cross motor, and laterally belt upside is fixedly connected with transverse slider, transverse slider downside laterally offers groove, and laterally belt downside slides in groove.
On the output shaft of described buncher, be fixed with a sheave, safety rope winding is in the groove of sheave, electromagnet middle part offers a diameter and is less than the manhole that impacts bulb diameter, the upper and lower two ends of manhole rounding respectively, safety rope upper end is fixedly connected with sheave, and lower end is fixedly connected with impact ball through manhole.
A method of utilizing above-mentioned trampoline checkout equipment to detect trampoline, is characterized in that: comprise the following steps:
Step 1, adjusts the position of three video cameras, make to impact ball resilience after peak between the first video camera and the second video camera, make the sagging deepest point of trampoline be positioned at the shooting field angle scope of the 3rd video camera;
Step 2, starts to detect, and electromagnet power-off, impacts ball freely falling body;
Step 3, camera control unit output pulse signal, the first video camera and the second video camera return pulse signal gather a sub-picture simultaneously, and the 3rd video camera is independent to be taken continuously, and the image that the first video camera, the second video camera and the 3rd video camera are taken deposits PC in by image pick-up card;
Step 4, turns gray level image by captured coloured image;
Step 5, be bianry image by greyscale image transitions, pixel value is the background pixel of 0 pixel representative image, pixel value is 1 pixel representative impact ball pixel, calculate respectively all pixels that in the image of the first video camera and the second video camera, pixel value is 1 at vertical Y-axis and the longitudinal coordinate mean value of Z axis, obtain respectively the center of gravity time series of impacting ball in the first video camera and the second video camera photographic images, choose the peaked image calculation of Y-axis coordinate impact ball center of gravity with respect to the first camera review central point at the pixel value difference NUMY1 of Y-axis and at the pixel value difference NUMZ1 of Z axis, calculating impact ball center of gravity is the pixel value difference NUMY2 in Y-axis with respect to the second camera review central point, obtain the Y-axis coordinate time sequence of trampoline net minimum point in the image of the 3rd video camera simultaneously, choose the peaked image calculation trampoline net of Y-axis coordinate minimum point with respect to the 3rd camera review central point the pixel value difference NUMY3 in Y-axis,
Step 6, utilizes formula 1. to calculate the spatial resolution C of video camera, and the spatial resolution of the first video camera is that the spatial resolution of C1, the second video camera is C2, and the spatial resolution of the 3rd video camera is C3,
C= 2×X×tan
Figure 36699DEST_PATH_IMAGE001
/B ①
Wherein X is the X-axis distance of video camera and picture point to be collected, the field angle that α is video camera, the vertical pixel number that B is video camera;
Step 7, utilize formula 2.～4. calculate the difference in height Y1 that impacts ball and the first video camera, with the difference in height of the second video camera be the X-axis coordinate X1 of Y2 and impact ball,
Y1=C1×NUMY1=2×X1×tan
Figure 160513DEST_PATH_IMAGE002
×NUMY1 ②
Y2= C2×NUMY2=2×X1×tan
Figure 444864DEST_PATH_IMAGE003
×NUMY2 ③
Y1+Y2=ΔF ④
Wherein
Figure 670440DEST_PATH_IMAGE004
be the field angle of the first video camera,
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be the field angle of the second video camera,
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be the vertical pixel number of the first video camera, be the vertical pixel number of the second video camera, Δ F is the known vertical spacing of the first video camera and the second video camera, 50mm≤Δ F≤200mm; Y1, Y2 and X1 are unknown number, by formula 2.～4. three a formula can solve this three unknown numbers;
Step 8, utilizes formula 5. to calculate the along slope coordinate Z1 that impacts ball;
Z1=C1×NUMZ1 ⑤；
Step 9, calculates and impacts ball rebound height F+Y2, transversal displacement X1-L and vertical misalignment amount Z1, and wherein F is the difference in height of the second video camera and trampoline net, and L is the X-axis distance of check point and the first video camera;
Step 10, that utilizes that 6. formula calculate relative the 3rd video camera of trampoline net is absorbed in depth delta H,
ΔH=C3×NUMY3= 2×L×tan
Figure 859532DEST_PATH_IMAGE008
/
Figure 425642DEST_PATH_IMAGE009
×NUMY3 ⑥
Wherein L is the X-axis distance of check point and the 3rd video camera,
Figure 789628DEST_PATH_IMAGE010
be the field angle of the 3rd video camera,
Figure 150202DEST_PATH_IMAGE009
it is the vertical pixel number of the 3rd video camera; In step 4, find the darkest image that sink in the Y-axis coordinate time sequence of trampoline net minimum point, obtained Δ H by the NUMY3 in this image, do not needed other images to calculate, reduced calculated amount, improved detection efficiency;
Step 11, the sagging depth H of calculating trampoline, H=H1+ Δ H, H1 is the known vertical distance of the 3rd video camera and trampoline net;
Step 12, buncher forward is promoted and is impacted ball by safety rope, and the batting of electromagnet energising fixed punch, impacts ball and discharges three times in same position, averages, and completes the detection of a point;
Step 13, detection position adjusting mechanism moves and impacts ball to another check point, repeating step 1～12, other three points of detection trampoline, complete the detection to trampoline.
The difference in height F of described the second video camera and trampoline net is 3150mm, and the vertical separation delta F of the first video camera and the second video camera is 100mm.
The calculating that in step 4, coloured image turns gray level image adopts the move to right method of six of binary numeral.In guaranteeing computational accuracy, accelerate the computing velocity of computing machine, improve detection efficiency.
Pulse signal described in step 3 is that frequency is the 12V rectangular pulse signal of 100HZ, and the first video camera and the second video camera gather a sub-picture at the rising edge of rectangular pulse signal simultaneously.
Compared with prior art, the beneficial effect that trampoline checkout equipment of the present invention and detection method have is:
1, simple in structure, the present invention calculates the sagging degree of depth of rebound height, side-play amount and trampoline of impacting ball by image processing algorithm after by the first video camera, the second video camera and the 3rd camera acquisition image, do not need calibrating camera in advance, avoid calibration process and camera parameters to change the error producing, easy to operate, simple in structure, be convenient to detect.
2, testing result is accurate, the present invention can detect at scene in stadiums, be not subject to the impact of air-flow in venue, by calculating accurate numerical value, utilize motor controller controls buncher to accelerate to rotate, prevent safety rope liquidate batting produce pull, utilize electromagnet to discharge simultaneously and impact ball, guarantee to impact the complete movement of falling object of ball, after the pulse signal that the first video camera and the second video camera reception camera control unit send, gather a sub-picture simultaneously, the absolute position of guaranteeing to impact in the image of the first video camera and the second camera acquisition in the time calculating ball is consistent, guarantee that computational data is accurate, improve testing result accuracy.
3, easy to operate, detection efficiency is high, to impact ball by longitudinal driving mechanism and transversal driving mechanism shifts at each impulse detection point, after detection, buncher is promoted to electromagnet place by impact ball automatically, can carry out easily multiple spot and repeatedly measure, be conducive to improve accuracy of detection and efficiency.
4, calculate after the center of gravity of impacting ball, to impact its rebound height of center of gravity calculation and the side-play amount of ball, guarantee that the data that obtain in each image have comparability, thereby accurately find the maximum height of resilience, and the maximum offset of all directions.
Accompanying drawing explanation
Fig. 1 is the perspective view of trampoline checkout equipment of the present invention.
Fig. 2 is the partial structurtes schematic diagram of transverse slider.
Fig. 3 is the partial structurtes schematic diagram at longitudinal motor place.
Fig. 4 is the calculating schematic diagram of video camera photographic images height.
Fig. 5 is the schematic diagram of pixel value difference in image.
Fig. 6 is the calculating schematic diagram of Y1, Y2.
Wherein: 1, trampoline 2, support column 3, longitudinal sliding block 4, longitudinally guiding post 5, longitudinal belt 6, horizontal belt 7, laterally steering post 8, transverse slider 9, the first video camera 10, the second video camera 11, video camera fixed bar 12, the 3rd video camera 13, longitudinal motor 14, cross motor 15, buncher 16, sheave 17, safety rope 18, electromagnet 19, impact ball 20, manhole.
Embodiment
Fig. 1 ~ 6th, the most preferred embodiment of trampoline checkout equipment of the present invention and detection method, below in conjunction with accompanying drawing 1 ~ 6, the present invention will be further described.
With reference to Fig. 1～2, trampoline checkout equipment, comprise trampoline 1, impact ball 19, the first video camera 9, the second video camera 10 and the 3rd video camera 12, on four angles of trampoline 1, be vertically fixed with respectively support column 2, support column 2 upper ends of trampoline 1 longitudinal both sides are fixed with respectively two longitudinally guiding posts 4, on two longitudinally guiding posts 4, be fixed with the longitudinal sliding block 3 of a level, longitudinal sliding block 3 is connected with a longitudinal belt 5 that drives its longitudinal sliding motion, between two longitudinal sliding blocks 3, be fixed with two horizontal laterally steering posts 7, on laterally steering post 7, be fixed with the transverse slider 8 of a level, transverse slider 8 is connected with the horizontal belt 6 that drives it laterally to slide, impacting ball 19 is fixed on transverse slider 8, longitudinal sliding block 3 lower surfaces on right side are fixed with a vertical video camera fixed bar 11, on video camera fixed bar 11, be fixed with successively the first video camera 9 from top to bottom, the second video camera 10 and the 3rd video camera 12, wherein the first video camera 9 and the second video camera 10 gather the height image of impacting after ball 19 resiliences, the 3rd video camera 12 gathers the sagging depth image of trampoline 1 wire side, longitudinal belt 5 and laterally belt 6 drive impact ball 19 to move horizontally, arrive certain check point, the first video camera 9, the second video camera 10 and the 3rd video camera 12 are taken continuously and image are processed, calculate, finally obtain impacting the rebound height of ball 19, laterally transversal displacement, the sagging degree of depth of vertical misalignment amount and trampoline 1 wire side.
Longitudinal belt 5 revolutions connect longitudinal motor 13, longitudinal belt 5 upsides are fixedly connected with longitudinal sliding block 3, longitudinal sliding block 3 downsides offer groove, longitudinal belt 5 is slidably arranged in groove, laterally belt 6 revolutions connect cross motor 14, laterally belt 6 upsides are fixedly connected with transverse slider 8, transverse slider 8 downsides are offered groove, laterally belt 6 is slidably arranged in groove, longitudinal belt 5 is arranged in groove and is slided with horizontal belt 6, can reduce belt spacing, thereby reduce the diameter of belt pulley, reduce costs, prevent belt deviation simultaneously.
Video camera fixed bar 11 moves with longitudinal sliding block 3, and the horizontal direction that is positioned at all the time impact ball 19 is in X-axis, such the first video camera 9, the second video camera 10 and the 3rd video camera 12 batting 19 the freely falling body track that all just liquidating is taken, the impact ball 19 that the first video camera 9 and the second video camera 10 record is being longitudinally that side-play amount in Y-axis is exactly the real offset of impacting ball 19, the sagging low spot of trampoline 1 wire side that the 3rd video camera 12 is taken is positioned at image middle part, convenience of calculation, improve detection efficiency, result is more accurate simultaneously.
The pixel of the first video camera 9 is A 1×
Figure 350370DEST_PATH_IMAGE006
, the pixel of the second video camera 10 is A 2×
Figure 720172DEST_PATH_IMAGE011
, the pixel of the 3rd video camera 12 is
Figure 673084DEST_PATH_IMAGE012
×
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, in the present invention, three video cameras all adopt 1280 × 960 pixel, and shutter speed is less than or equal to 1/500S, can take continuously fast like this, reduce to detect error, frame frequency requires to be more than or equal to 100HZ, makes clear picture, calculate accurately, lens focus is 10mm, and has automatic focusing function, makes the image of shooting more clear, calculate accurately, in the present invention, the field angle of the first video camera 9 is
Figure 78975DEST_PATH_IMAGE004
, the field angle of the second video camera 10 is
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, the field angle of the 3rd video camera 12 is , in the present invention
Figure 106471DEST_PATH_IMAGE004
=
Figure 202603DEST_PATH_IMAGE005
=
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=12 °, if being less than 12 °, field angle can take less than impacting ball 19, or the image that impacts ball 19 is imperfect, the first video camera 9 and the second video camera 10 are connected with camera control unit, camera control unit output pulse signal, control the first video camera 9 and the second video camera 10 return pulse signals gather a sub-picture simultaneously, because need to calculate with the image that the first video camera 9 and the second video camera 10 gather the recoil position of synchronization impact ball 19, if the first video camera 9 and the second video camera 10 are taken free error, can cause the position data of obtained impact ball 19 to have very large error.
With reference to Fig. 3, transverse slider 8 upper horizontal are fixed with a buncher 15, on the output shaft of buncher 15, be coaxially fixed with a sheave 16, in the groove of sheave 16, be arranged with safety rope 17, safety rope 17 upper ends are fixedly connected with sheave 16, electromagnet 18 middle parts offer a diameter and are less than the manhole 20 that impacts ball 19 diameters, safety rope 17 lower ends are fixedly connected with impact ball 19 through manhole 20, the equal rounding in two ends of manhole 20, reduce the friction of safety rope 17, after avoiding safety rope 17 to fall to being obstructed, the freely falling body of ball 19 is impacted in impact, improve the serviceable life of safety rope 17 simultaneously.
Buncher 15 is connected with an electric machine controller, when impact ball 19 starts to fall, electric machine controller can be controlled buncher 15 and reverse in advance, make safety rope 17 start to fall early than impacting ball 19, and controlling buncher 15 reverses, make the falling speed of safety rope 17 be greater than all the time the falling speed of impacting ball 19, make to impact ball 19 and realize freely falling body completely, improve the accuracy that detects data, safety rope 17 can prevent from impacting after the first resilience of ball 19 out of control, detect safety, after detection, at the uniform velocity main story of motor controller controls buncher 15, impact ball 19 is promoted to electromagnet 18 places, easy to operate, improve detection efficiency.
Utilize above-mentioned trampoline checkout equipment to carry out the method for trampoline detection, specifically comprise the following steps:
Step 1, the position of three video cameras of adjusting:
Longitudinally transverse slider 8 is moved to predetermined detection position by motor 13 and cross motor 14, discharge 2～3 times and impact ball 19, record impacts the height of upspringing after ball 19 freely falling bodies, regulate the position of three video cameras, make the first video camera 9 higher than the rebound height of impacting ball 19, the second video camera 10 is lower than the rebound height of impacting ball 19, after impacting ball 19 resilience for the first time, drop between the first video camera 9 and the second video camera 10, the vertical separation delta F of the first video camera 9 and the second video camera 10 is 100mm, the second video camera 10 is 3150mm with the difference in height F of trampoline 1 wire side, make the central point of the 3rd video camera 12 be less than or equal to 200 pixels with the pixel value difference that impact ball 19 is absorbed in trampoline 1 deepest point, make the sagging deepest point of trampoline 1 be positioned at the shooting field angle scope of the 3rd video camera 12, the 3rd video camera 12 is 950mm with the vertical distance H 1 of trampoline 1 wire side, the X-axis distance L of three video cameras and check point is 500mm.
Step 2, starts to detect, and impacts ball 19 freely falling bodies:
Motor controller controls buncher 15 is in electromagnet 18 power-off, impact ball 19 and fall to starting before to accelerate reversion, the falling speed of safety rope 17 is greater than the falling speed of impacting ball 19, guarantee to impact the complete freely falling body of ball 19, and the acceleration that buncher 15 is controlled sheave 16 is less than 11m/s
Figure 592444DEST_PATH_IMAGE013
, prevent that safety rope 17 is wound around, ties a knot, guarantee to detect and carry out smoothly;
Step 3, gathers image
Camera control unit output frequency is the 12V rectangular pulse signal of 100HZ, the first video camera 9 and the second video camera 10 gather a sub-picture at the rising edge of rectangular pulse signal simultaneously, the independent shooting continuously of the 3rd video camera 12, the image that the first video camera 9, the second video camera 10 and the 3rd video camera 12 are taken deposits PC in by image pick-up card;
Step 4, captured coloured image is turned to gray level image, the formula adopting is Gray=(R × 19+G × 37+B × 8) >> 6, adopt the move to right method of six of binary numeral, in guaranteeing precision, improve the counting yield of computing machine, improve detection efficiency;
Step 5, ball 19 centers of gravity, the sagging deepest point coordinate of trampoline 1 are impacted in calculating, calculate the pixel value difference that impacts ball 19 resilience peaks and trampoline 1 sagging deepest point image;
Be bianry image by greyscale image transitions, pixel value is the background pixel of 0 pixel representative image, pixel value is 1 pixel representative impact ball 19 pixels, calculate respectively all pixels that in the image of the first video camera 9 and the second video camera 10, pixel value is 1 at vertical Y-axis and the longitudinal coordinate mean value of Z axis, obtain respectively the center of gravity time series of impacting ball 19 in the first video camera 9 and the second video camera 10 photographic images, obtain the Y-axis coordinate time sequence of trampoline 1 wire side minimum point in the image of the 3rd video camera 12 simultaneously;
With reference to Fig. 4, choose the peaked image of Y-axis coordinate in the first video camera 9, the second video camera 10, these two images are the images that impact ball 19 resilience peaks, calculate impact ball 19 centers of gravity with respect to the first video camera 9 image centers at the pixel value difference NUMY1 of Y-axis and at the pixel value difference NUMZ1 of Z axis, calculate impact ball 19 centers of gravity with respect to the second video camera 10 image centers the pixel value difference NUMY2 in Y-axis; Choose the peaked image of Y-axis coordinate in the 3rd video camera 12, this image is the sink image of minimum point of trampoline 1 wire side, calculate trampoline 1 wire side minimum point with respect to the 3rd video camera 12 image centers Y-axis pixel value difference NUMY3;
Step 6, the spatial resolution C of calculating video camera:
C represents two actual ranges between pixel, and C=image true altitude/vertical pixel number utilizes formula 1. to calculate spatial resolution C1, the spatial resolution C2 of the second video camera 10 and the spatial resolution C3 of the 3rd video camera 12 of the first video camera 9,
C= 2×X×tan
Figure 793618DEST_PATH_IMAGE001
/B ①
Wherein X is the X-axis distance of video camera and picture point to be collected, the field angle that α is video camera, the vertical pixel number that B is video camera;
Step 7, with reference to Fig. 6, utilize formula 2.～4. resilience peak impacts the difference in height Y1 of ball 19 and the first video camera 9 in calculation procedure 5, with the difference in height of the second video camera 10 be the X-axis coordinate X1 of Y2 and impact ball 19,
Y1=C1×NUMY1=2×X1×tan
Figure 377046DEST_PATH_IMAGE002
×NUMY1 ②
Y2= C2×NUMY2=2×X1×tan
Figure 436882DEST_PATH_IMAGE003
×NUMY2 ③
Y1+Y2=ΔF ④
Below impact ball 19 drops on the second video camera, 4. formula adopts Y2-Y1=100mm, drops on above the first video camera 9 when impacting ball 19, and 4. formula adopts Y1-Y2=100mm;
According to calculating NUMY1=386 in step 5, NUMY2=512, knows again
Figure 422155DEST_PATH_IMAGE004
=
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=12 °, the pixel of the first video camera 9 and the second video camera 10 is 1280 × 960, i.e. B 1= =960, after the above-mentioned formula of substitution, just can calculate Y1=42.5, Y2=57.5, X1=509, the vertical coordinate and the lateral coordinates that obtain impacting ball 19;
Step 8, utilizes formula 5. to calculate the along slope coordinate Z1 that impacts ball 19
Z1=C1×NUMZ1= 2× X1×tan
Figure 731411DEST_PATH_IMAGE014
/ ×NUMZ1 ⑤
According to calculating NUMZ1=109 in step 5, after the above-mentioned formula of substitution, obtain impacting ball 19 along slope coordinate Z1=12mm;
Step 9, the height impacting after ball 19 resiliences is F+Y2=3150+57=3207mm, and lateral excursion is X1-L=509-500=9mm, and vertical misalignment is Z1=12mm;
Step 10, that utilizes that 6. formula calculate relative the 3rd video camera 12 of trampoline 1 wire side is absorbed in depth delta H,
ΔH=C3×NUMY3= 2×L×tan
Figure 114168DEST_PATH_IMAGE008
/ ×NUMY3 ⑥
Wherein be the field angle of the 3rd video camera 12,
Figure 771042DEST_PATH_IMAGE009
be the vertical pixel number of the 3rd video camera 12, in step 5, calculate NUMY3=209, known L=500mm again,
Figure 484920DEST_PATH_IMAGE010
=12 °, the pixel of the 3rd video camera 12 is 1280 × 960, =960, NUMY3=209,6. substitution formula obtains Δ H=22.9mm;
Step 11, utilizes formula 7. to calculate the depth H that is absorbed in of trampoline 1,
H=H1+ΔH ⑦
Obtain H=22.9+950mm=972.9mm;
Step 12, at the uniform velocity main story of motor controller controls buncher 15, is promoted to manhole 20 places by safety rope 17 by impact ball 19, electromagnet 18 energisings hold impacts ball 19, and buncher 15 stops, and impacts ball 19 and discharges three times in same position, average, complete the detection of a point;
Step 13, longitudinally motor 13 and cross motor 14 move, impact ball 19 is moved to next check point, repeating step 1～12, the first video camera 9, the second video camera 10 and the 3rd video camera 12 vertically move with video camera fixed bar 11, other three points to trampoline 1 wire side detect, and complete the detection to trampoline 1.
In the present invention, each axial coordinate maximal value all refers to the maximal value of absolute value.
It is more than most preferred embodiment of the present invention.
The pixel of the first video camera 9 in the present invention × , the pixel of the second video camera 10
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× , the pixel of the 3rd video camera 12 ×
Figure 122859DEST_PATH_IMAGE009
all require to be more than or equal to the pixel of 1280 × 960, three video cameras can be different.
The field angle of the first video camera 9
Figure 381802DEST_PATH_IMAGE004
, the field angle of the second video camera 10 , the field angle of the 3rd video camera 12 all be more than or equal to 12 °, be less than or equal to 18 °, the field angle of three video cameras can be different.
The above, be only preferred embodiment of the present invention, is not the restriction of the present invention being made to other form, and any those skilled in the art may utilize the technology contents of above-mentioned announcement to be changed or be modified as the equivalent embodiment of equivalent variations.But every technical solution of the present invention content that do not depart from, any simple modification, equivalent variations and the remodeling above embodiment done according to technical spirit of the present invention, still belong to the protection domain of technical solution of the present invention.

Claims (8)

1. a trampoline checkout equipment, comprise trampoline (1) and impact ball (19), it is characterized in that: be fixed with to drive in trampoline (1) top and impact the detection position adjusting mechanism that ball (19) moves in surface level, on the adjusting mechanism of detection position, be fixed with electromagnet (18) and buncher (15), impact ball (19) and be adsorbed on electromagnet (18) downside, and connect buncher (15) by safety rope (17), buncher (15) is connected with electric machine controller, electric machine controller can be controlled buncher (15) and accelerate to rotate, make to impact ball (19) freely falling body completely,
Detection position adjusting mechanism is in X-axis, to be fixed with a vertical video camera fixed bar (11) in the horizontal direction of impacting ball (19), on video camera fixed bar (11), be provided with successively the first video camera (9) from top to bottom, the second video camera (10) and the 3rd video camera (12), the first video camera (9) is positioned at trampoline (1) top with the second video camera (10) and takes the resilience image that impacts ball (19), the 3rd video camera (12) is positioned at trampoline (1) below and takes the sagging image of trampoline (1) wire side, the first video camera (9) is connected with camera control unit with the second video camera (10), camera control unit output pulse signal, control the first video camera (9) and gather a sub-picture with the second video camera (10) simultaneously.
2. trampoline checkout equipment according to claim 1, it is characterized in that: described detection position adjusting mechanism comprises vertical support column (2), longitudinal sliding block (3) and transverse slider (8), four support columns (2) are separately fixed on (1) four angle of trampoline, trampoline (1) longitudinally support column (2) upper end of both sides is fixed with respectively longitudinally guiding post (4), longitudinal sliding block (3) slides and is fixed on longitudinally guiding post (4), between two longitudinal sliding blocks (3), be fixed with laterally steering post (7), transverse slider (8) slides and is fixed on laterally steering post (7), buncher (15) is fixed on transverse slider (8) with electromagnet (18), longitudinal sliding block (3) is connected with the longitudinal driving mechanism that drives its longitudinal sliding motion, transverse slider (8) is connected with the transversal driving mechanism that drives it laterally to slide.
3. trampoline checkout equipment according to claim 2, it is characterized in that: described longitudinal driving mechanism comprises longitudinal motor (13) and longitudinal belt (5), longitudinally motor (13) is fixed on a support column (2) upper end, longitudinal belt (5) revolution connects longitudinal motor (13), longitudinal belt (5) upside is fixedly connected with longitudinal sliding block (3), longitudinal sliding block (3) downside longitudinally offers groove, and longitudinal belt (5) downside slides in groove; Described transversal driving mechanism comprises cross motor (14) and horizontal belt (6), cross motor (14) is fixed on longitudinal sliding block (3), laterally belt (6) revolution connects cross motor (14), laterally belt (6) upside is fixedly connected with transverse slider (8), transverse slider (8) downside laterally offers groove, and laterally belt (6) downside slides in groove.
4. trampoline checkout equipment according to claim 1, it is characterized in that: on the output shaft of described buncher (15), be fixed with a sheave (16), safety rope (17) winding is in the groove of sheave (16), electromagnet (18) middle part offers a diameter and is less than the manhole (20) that impacts ball (19) diameter, the upper and lower two ends of manhole (20) rounding respectively, safety rope (17) upper end is fixedly connected with sheave (16), and lower end is fixedly connected with impact ball (19) through manhole (20).
5. the method for utilizing the trampoline checkout equipment described in claim 1～4 any one to detect trampoline, is characterized in that: comprise the following steps:
Step 1, adjusts the position of three video cameras, make to impact ball (19) resilience after peak be positioned between the first video camera (9) and the second video camera (10), make the sagging deepest point of trampoline (1) be positioned at the shooting field angle scope of the 3rd video camera (12);
Step 2, starts to detect, and electromagnet (18) power-off, impacts ball (19) freely falling body;
Step 3, camera control unit output pulse signal, the first video camera (9) and the second video camera (10) return pulse signal gather a sub-picture simultaneously, the 3rd video camera (12) is independent to be taken continuously, and the image that the first video camera (9), the second video camera (10) and the 3rd video camera (12) are taken deposits PC in by image pick-up card;
Step 4, turns gray level image by captured coloured image;
Step 5, be bianry image by greyscale image transitions, pixel value is the background pixel of 0 pixel representative image, pixel value is 1 pixel representative impact ball (19) pixel, calculate respectively all pixels that in the image of the first video camera (9) and the second video camera (10), pixel value is 1 at vertical Y-axis and the longitudinal coordinate mean value of Z axis, obtain respectively the center of gravity time series of impacting ball (19) in the first video camera (9) and the second video camera (10) photographic images, choose the peaked image calculation of Y-axis coordinate impact ball (19) center of gravity with respect to the first video camera (9) image center at the pixel value difference NUMY1 of Y-axis and at the pixel value difference NUMZ1 of Z axis, calculating impact ball (19) center of gravity is the pixel value difference NUMY2 in Y-axis with respect to the second video camera (10) image center, obtain the Y-axis coordinate time sequence of trampoline (1) wire side minimum point in the image of the 3rd video camera (12) simultaneously, choose the peaked image calculation trampoline of Y-axis coordinate (1) wire side minimum point with respect to the 3rd video camera (12) image center the pixel value difference NUMY3 in Y-axis,
Step 6, utilizes formula 1. to calculate the spatial resolution C of video camera, and the spatial resolution of the first video camera (9) is C1, and the spatial resolution of the second video camera (10) is C2, and the spatial resolution of the 3rd video camera (12) is C3,
C= 2×X×tan
Figure 2014100497353100001DEST_PATH_IMAGE001
/B ①
Wherein X is the X-axis distance of video camera and picture point to be collected, the field angle that α is video camera, the vertical pixel number that B is video camera;
Step 7, utilize formula 2.～4. calculate and impact ball (19) and the difference in height Y1 of the first video camera (9), with the difference in height of the second video camera (10) be Y2 and the X-axis coordinate X1 that impacts ball (19),
Y1=C1×NUMY1=2×X1×tan ×NUMY1 ②
Y2= C2×NUMY2=2×X1×tan
Figure 2014100497353100001DEST_PATH_IMAGE003
×NUMY2 ③
Y1+Y2=ΔF ④
Wherein
Figure 2014100497353100001DEST_PATH_IMAGE004
be the field angle of the first video camera (9),
Figure 2014100497353100001DEST_PATH_IMAGE005
be the field angle of the second video camera (10), be the vertical pixel number of the first video camera (9),
Figure 2014100497353100001DEST_PATH_IMAGE007
be the vertical pixel number of the second video camera (10), Δ F is the known vertical spacing of the first video camera (9) and the second video camera (10), 50mm≤Δ F≤200mm;
Step 8, utilizes formula 5. to calculate the along slope coordinate Z1 that impacts ball (19),
Z1=C1×NUMZ1 ⑤；
Step 9, calculates and impacts ball (19) rebound height F+Y2, transversal displacement X1-L and vertical misalignment amount Z1, and wherein F is the difference in height of the second video camera (10) and trampoline (1) wire side, and L is the X-axis distance of check point and the first video camera (9);
Step 10, that utilizes that 6. formula calculate relative the 3rd video camera (12) of trampoline (1) wire side is absorbed in depth delta H,
ΔH=C3×NUMY3= 2×L×tan
Figure 2014100497353100001DEST_PATH_IMAGE008
/
Figure 2014100497353100001DEST_PATH_IMAGE009
×NUMY3 ⑥
Wherein L is the X-axis distance of check point and the 3rd video camera, be the field angle of the 3rd video camera,
Figure 817985DEST_PATH_IMAGE009
it is the vertical pixel number of the 3rd video camera;
Step 11, the sagging depth H of calculating trampoline (1), H=H1+ Δ H, H1 is the known vertical distance of the 3rd video camera (12) and trampoline (1) wire side;
Step 12, buncher (15) forward is promoted and is impacted ball (19) by safety rope (17), and electromagnet (18) energising fixed punch batting (19) is impacted ball (19) and is discharged three times in same position, averages, and completes the detection of a point;
Step 13, detection position adjusting mechanism moves and impacts ball (19) to another check point, repeating step 1～12, other three points of detection trampoline (1), complete the detection to trampoline (1).
6. detection method according to claim 5, is characterized in that: described the second video camera (10) is 3150mm with the difference in height F of trampoline (1) wire side, and the first video camera (9) is 100mm with the vertical separation delta F of the second video camera (10).
7. detection method according to claim 5, is characterized in that: the calculating that in step 4, coloured image turns gray level image adopts the move to right method of six of binary numeral.
8. detection method according to claim 5, it is characterized in that: pulse signal described in step 3 is that frequency is the 12V rectangular pulse signal of 100HZ, the first video camera (9) gathers a sub-picture with the second video camera (10) at the rising edge of rectangular pulse signal simultaneously.
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