CN103776603B - Trampoline checkout equipment and detection method - Google Patents
Trampoline checkout equipment and detection method Download PDFInfo
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- CN103776603B CN103776603B CN201410049735.3A CN201410049735A CN103776603B CN 103776603 B CN103776603 B CN 103776603B CN 201410049735 A CN201410049735 A CN 201410049735A CN 103776603 B CN103776603 B CN 103776603B
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Abstract
Trampoline checkout equipment and detection method, belong to trampoline detection technique field.Detect on position adjusting mechanism and be fixed with buncher (15), buncher (15) is connected with electric machine controller, motor controller controls buncher (15) accelerates reversion, impact ball (19) freely falling body completely, first video camera (9) and the second video camera (10) are taken and are impacted ball (19) resilience image, 3rd video camera (12) shooting trampoline (1) wire side sink image, first video camera (9) and the second video camera (10) return pulse signal gather a sub-picture simultaneously, trampoline detection method is that the coloured image of collection is converted to bianry image, calculate the pixel value difference of the center of gravity relative image central point impacting ball (19), the product of pixel value difference and spatial resolution obtains impacting the three-D displacement of ball (19) and the sagging degree of depth of trampoline (1), there is structure simple, easy to detect, the advantages such as result is accurate.
Description
Technical field
Trampoline checkout equipment and detection method, belong to trampoline detection technique field, is specifically related to a kind of detection and impacts ball freely falling body and impact rebound height after trampoline and transverse direction, the checkout equipment of vertical misalignment amount and detection method.
Background technology
For the chance making all trampolinists have fair competition, the performance that must control trampoline and the difference as far as possible reduced between contest and exercise equipment, International Track and Field Association requires to detect trampoline, detection method utilizes impact ball to impact trampoline after specified altitude freely falling body, utilize camera record to impact ball rebound height and transverse direction, longitudinal side-play amount, also comprise the sagging degree of depth of trampoline net.Detection method conventional is at present direct linear conversion method, can the reconstruct of implementation space three-dimensional coordinate by the video cameras of more than two, realize the detection 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 needing to be greater than 16 reference mark could the parameter of calibrating camera comparatively accurately, and easily calibrated error is introduced in calibration process, installation process changes also easily in time, in transportation, stadiums for the parameter of camera, causes impacting that ball measures is inaccurate.
Summary of the invention
The technical problem to be solved in the present invention is: overcome the deficiencies in the prior art, one is provided not need calibrating camera in advance, require low to the performance of video camera and installation accuracy, the trampoline checkout equipment that structure is simple, testing result is accurate, easy to detect 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 driving and impact ball movement in surface level, detect on position adjusting mechanism and be fixed with electromagnet and buncher, impacting ball is adsorbed on the downside of electromagnet, and connect buncher by safety rope, buncher is connected with electric machine controller, electric machine controller can control buncher and accelerate to rotate, and makes the complete freely falling body of impact ball; Impact ball can be moved to different detection positions by detecting position adjusting mechanism, the pin-point accuracy impacting ball can be kept;
Detection position adjusting mechanism is fixed with a vertical video camera fixed bar in the horizontal direction of impacting ball and X-axis, video camera fixed bar is provided with successively the first video camera, the second video camera and the 3rd video camera from top to bottom, the resilience image impacting ball is taken in first video camera and the second position for video camera above trampoline, 3rd position for video camera is taken trampoline net and to be sunk image below trampoline, 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 gathers a sub-picture simultaneously.The image that first video camera and the second video camera gather needs to carry out calculating when impacting ball X at same position can draw three-dimensional coordinate, 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 trampoline four angles, the support column upper end of the longitudinal both sides of trampoline is fixed with longitudinally guiding post respectively, longitudinal sliding block slides and is fixed on longitudinally guiding post, laterally steering post is fixed with between two longitudinal sliding blocks, 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 driving its longitudinal sliding motion, transverse slider is connected with the transversal driving mechanism driving it laterally to slide.
Described longitudinal driving mechanism comprises longitudinal motor and longitudinal belt, longitudinal motor is fixed on a support column upper end, and longitudinal belt revolution connects longitudinal motor, is fixedly connected with on the upside of longitudinal belt with longitudinal sliding block, longitudinal sliding block downside longitudinally offers groove, slides on the downside of longitudinal belt in groove; Described transversal driving mechanism comprises cross motor and horizontal belt, cross motor is fixed on longitudinal sliding block, and horizontal belt revolution connects cross motor, is fixedly connected with on the upside of horizontal belt with transverse slider, transverse slider downside laterally offers groove, slides on the downside of horizontal belt in groove.
The output shaft of described buncher is fixed with a sheave, safety rope winding is in the groove of sheave, offer a diameter in the middle part of electromagnet and be less than the manhole impacting 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.
The method utilizing above-mentioned trampoline checkout equipment to detect trampoline, is characterized in that: comprise the following steps:
Step 1, the position of adjustment three video cameras, after making the resilience of impact ball, peak is between the first video camera and the second video camera, and the deepest point that trampoline is sunk is positioned at the shooting field angle scope of the 3rd video camera;
Step 2, starts to detect, electromagnet power-off, impacts ball freely falling body;
Step 3, camera control unit output pulse signal, first video camera and the second video camera return pulse signal gather a sub-picture simultaneously, the independent shooting continuously of the 3rd video camera, the image that the first video camera, the second video camera and the 3rd video camera are taken by image pick-up card stored in PC;
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 the pixel representative image of 0, pixel value is the pixel representative impact ball pixel of 1, calculating pixel value in the image of the first video camera and the second video camera is respectively that all pixels of 1 are at the coordinate mean value of vertical Y-axis and longitudinal Z axis, obtain the first video camera respectively and the center of gravity time series of impacting ball in image taken by the second video camera, the image choosing Y-axis coordinate maximal value calculates and impacts ball center of gravity relative to the pixel value difference NUMY1 of the first camera review central point in Y-axis and the pixel value difference NUMZ1 at Z axis, calculate and impact ball center of gravity relative to the pixel value difference NUMY2 of the second camera review central point in Y-axis, obtain the Y-axis coordinate time sequence of trampoline net minimum point in the image of the 3rd video camera, the image choosing Y-axis coordinate maximal value calculates trampoline net minimum point relative to the pixel value difference NUMY3 of the 3rd camera review central point in Y-axis simultaneously,
Step 6, utilizes formula 1. to calculate the spatial resolution C of video camera, and the spatial resolution of the first video camera is C1, the spatial resolution of the second video camera is C2, and the spatial resolution of the 3rd video camera is C3,
C=2×X×tan
/B①
Wherein X is the X-axis distance of video camera and picture point to be collected, and α is the field angle of video camera, and B is the vertical pixel number of video camera;
Step 7, utilize formula 2. ~ 4. calculate the difference in height Y1 impacting ball and the first video camera, be Y2 and the X-axis coordinate X1 impacting ball with the difference in height of the second video camera,
Y1=C1×NUMY1=2×X1×tan
×NUMY1②
Y2=C2×NUMY2=2×X1×tan
×NUMY2③
Y1+Y2=ΔF④
Wherein
be the field angle of the first video camera,
be the field angle of the second video camera,
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 longitudinal coordinate Z1 impacting ball;
Z1=C1×NUMZ1⑤；
Step 9, calculate and impact ball rebound height F+Y2, transversal displacement X1-L and vertical misalignment amount Z1, 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, what utilize formula 6. to calculate relative 3rd video camera of trampoline net is absorbed in depth delta H,
ΔH=C3×NUMY3=2×L×tan
/
×NUMY3⑥
Wherein L is the X-axis distance of check point and the 3rd video camera,
be the field angle of the 3rd video camera,
it is the vertical pixel number of the 3rd video camera; Have found in the Y-axis coordinate time sequence of trampoline net minimum point the darkest image that sink in step 4, obtained Δ H by the NUMY3 in this image, do not need to calculate other images, decrease calculated amount, improve detection efficiency;
Step 11, calculate the sagging depth H of trampoline, H=H1+ Δ H, H1 are the known vertical distance of the 3rd video camera and trampoline net;
Step 12, buncher rotates forward and promotes impact ball by safety rope, and the batting of electromagnet energising fixed punch, impacts ball and discharge three times in same position, average, complete the detection of a point;
Step 13, detects position adjusting mechanism and moves impact ball to another check point, repeat step 1 ~ 12, detect other three points of trampoline, complete the detection to trampoline.
The difference in height F of described 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 method for six of being moved to right by binary numeral.While guarantee computational accuracy, accelerate the computing velocity of computing machine, improve detection efficiency.
The 12V rectangular pulse signal of to be frequency the be 100HZ of pulse signal described in step 3, 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, structure is simple, the present invention is by calculating the sagging degree of depth of the rebound height, side-play amount and the trampoline that impact ball by image processing algorithm after the first video camera, the second video camera and the 3rd camera acquisition image, do not need calibrating camera in advance, avoid the error of calibration process and camera parameters change generation, easy to operate, structure is simple, is convenient to detect.
2, testing result is accurate, the present invention can detect at scene in stadiums, not by the impact of air-flow in venue, by calculating exact value, motor controller controls buncher is utilized to accelerate to rotate, prevent safety rope liquidate batting generation pull, utilize electromagnet to discharge simultaneously and impact ball, guarantee to impact the complete movement of falling object of ball, first video camera and the second video camera gather a sub-picture after receiving the pulse signal that camera control unit sends simultaneously, guarantee that the first video camera is consistent with the absolute position impacting ball in the image of the second camera acquisition when calculating, guarantee to calculate data accurate, improve testing result accuracy.
3, easy to operate, detection efficiency is high, ball will be impacted by longitudinal driving mechanism and transversal driving mechanism to shift at each impulse detection point, after detection, impact ball is promoted to electromagnet place by buncher automatically, multiple spot repetitive measurement can be carried out easily, be conducive to improving accuracy of detection and efficiency.
4, after calculating 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 obtained in each image have comparability, thus 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 shooting picture altitude.
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, first video camera 10, 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 ~ 6 are most preferred embodiments of trampoline checkout equipment of the present invention and detection method, and 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, first video camera 9, second video camera 10 and the 3rd video camera 12, four angles of trampoline 1 are vertically fixed with support column 2 respectively, support column 2 upper end of the longitudinal both sides of trampoline 1 is fixed with two longitudinally guiding posts 4 respectively, two longitudinally guiding posts 4 are fixed with the longitudinal sliding block 3 of a level, longitudinal sliding block 3 is connected with the longitudinal belt 5 that drives its longitudinal sliding motion, the laterally steering post 7 of two transverse directions is fixed with between two longitudinal sliding blocks 3, laterally steering post 7 is fixed with the transverse slider 8 of a level, transverse slider 8 is connected with the horizontal belt 6 driving it laterally to slide, impacting ball 19 is fixed on transverse slider 8, longitudinal sliding block 3 lower surface on right side is fixed with a vertical video camera fixed bar 11, video camera fixed bar 11 is fixed with the first video camera 9 from top to bottom successively, second video camera 10 and the 3rd video camera 12, wherein the collection of the first video camera 9 and the second video camera 10 impacts the height image after ball 19 resilience, 3rd video camera 12 gathers trampoline 1 wire side and to sink depth image, longitudinal belt 5 and horizontal belt 6 drive impact ball 19 to move horizontally, arrive certain check point, first video camera 9, second video camera 10 and the 3rd video camera 12 are taken continuously and process image, calculate, finally obtain the rebound height of impacting ball 19, horizontal transversal displacement, the sagging degree of depth of vertical misalignment amount and trampoline 1 wire side.
Longitudinal belt 5 turns round and connects longitudinal motor 13, be fixedly connected with longitudinal sliding block 3 on the upside of longitudinal belt 5, groove is offered on the downside of longitudinal sliding block 3, longitudinal belt 5 is slidably arranged in groove, horizontal belt 6 turns round and connects cross motor 14, be fixedly connected with transverse slider 8 on the upside of horizontal belt 6, groove is offered on the downside of transverse slider 8, horizontal belt 6 is slidably arranged in groove, longitudinal belt 5 and horizontal belt 6 are arranged in groove and slide, belt spacing can be reduced, thus reduce the diameter of belt pulley, reduce costs, prevent belt deviation simultaneously.
Video camera fixed bar 11 moves with longitudinal sliding block 3, and be positioned at all the time and impact in the horizontal direction of ball 19 and X-axis, all just the liquidating freely falling body track of batting 19 of such first video camera 9, second video camera 10 and the 3rd video camera 12 is taken, the side-play amount of impact ball 19 in longitudinal direction and Y-axis of the first video camera 9 and the second video camera 10 record is exactly the real offset of impacting ball 19, the trampoline 1 wire side low spot that sink that 3rd video camera 12 is taken is positioned in the middle part of image, convenience of calculation, improve detection efficiency, result is more accurate simultaneously.
The pixel of the first video camera 9 is A
1×
, the pixel of the second video camera 10 is A
2×
, the pixel of the 3rd video camera 12 is
×
, in the present invention, three video cameras all adopt the pixel of 1280 × 960, and shutter speed is less than or equal to 1/500S, can take continuously fast like this, reduce metrical error, frame rate requirement is 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
, the field angle of the second video camera 10 is
, the field angle of the 3rd video camera 12 is
, in the present invention
=
=
=12 °, can take less than impact ball 19 if field angle is less than 12 °, or the image impacting ball 19 is imperfect, 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 signal gathers a sub-picture simultaneously, because need the image with the first video camera 9 and the second video camera 10 gather to calculate the recoil position that synchronization impacts ball 19, if free error taken by the first video camera 9 and the second video camera 10, the position data of obtained impact ball 19 can be caused to there is very large error.
With reference to Fig. 3, transverse slider 8 upper horizontal is fixed with a buncher 15, the output shaft of buncher 15 is coaxially fixed with a sheave 16, safety rope 17 is arranged with in the groove of sheave 16, safety rope 17 upper end is fixedly connected with sheave 16, offer a diameter in the middle part of electromagnet 18 and be less than the manhole 20 impacting ball 19 diameter, safety rope 17 lower end is 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 control buncher 15 and reverse in advance, safety rope 17 is made to start to fall early than impact ball 19, and control buncher 15 to reverse, the falling speed of safety rope 17 is made to be greater than the falling speed of impacting ball 19 all the time, impact ball 19 is made to realize freely falling body completely, improve the accuracy detecting data, safety rope 17 is out of control after can preventing impacting the first resilience of ball 19, detect safety, after detection, motor controller controls buncher 15 at the uniform velocity main story, impact ball 19 is promoted to electromagnet 18 place, 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, regulates the position of three video cameras:
Transverse slider 8 is moved to predetermined detection position by longitudinal motor 13 and cross motor 14, release 2 ~ 3 Secondary Shocks balls 19, the height that record is upspring after impacting ball 19 freely falling body, regulate the position of three video cameras, make the first video camera 9 higher than the rebound height of impacting ball 19, second video camera 10 is lower than the rebound height of impacting ball 19, drop between the first video camera 9 and the second video camera 10 after impacting ball 19 first time resilience, the vertical separation delta F of the first video camera 9 and the second video camera 10 is 100mm, second video camera 10 is 3150mm with the difference in height F of trampoline 1 wire side, the pixel value difference making the central point of the 3rd video camera 12 and impact ball 19 be absorbed in trampoline 1 deepest point is less than or equal to 200 pixels, the sagging deepest point of trampoline 1 is made to be positioned at the shooting field angle scope of the 3rd video camera 12, 3rd video camera 12 is 950mm with the vertical distance H1 of trampoline 1 wire side, the X-axis distance L of three video cameras and check point is 500mm.
Step 2, starts to detect, impacts ball 19 freely falling body:
Motor controller controls buncher 15 is in electromagnet 18 power-off, impact before ball 19 falls and start to accelerate reversion, the falling speed of safety rope 17 is greater than the falling speed of impacting ball 19, ensure the complete freely falling body impacting ball 19, and the acceleration that buncher 15 controls sheave 16 is less than 11m/s
, prevent safety rope 17 to be wound around, to tie 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, 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 3rd video camera 12, the image that the first video camera 9, second video camera 10 and the 3rd video camera 12 are taken by image pick-up card stored in PC;
Step 4, captured coloured image is turned gray level image, the formula adopted is Gray=(R × 19+G × 37+B × 8) >>6, adopt the method for six of being moved to right by binary numeral, while guarantee precision, improve the counting yield of computing machine, improve detection efficiency;
Step 5, calculate impact ball 19 center of gravity, trampoline 1 sink deepest point coordinate, calculate to impact ball 19 resilience peak and trampoline 1 and to sink the pixel value difference of deepest point image;
Be bianry image by greyscale image transitions, pixel value is the background pixel of the pixel representative image of 0, pixel value is pixel representative impact ball 19 pixel of 1, calculating pixel value in the image of the first video camera 9 and the second video camera 10 is respectively that all pixels of 1 are at the coordinate mean value of vertical Y-axis and longitudinal Z axis, obtain the first video camera 9 respectively and the center of gravity time series of impacting ball 19 taken in image by the second video camera 10, 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 image of Y-axis coordinate maximal value in the first video camera 9, second video camera 10, these two images are the images impacting ball 19 resilience peak, calculate and impact ball 19 center of gravity relative to the first pixel value difference NUMY1 of video camera 9 image center in Y-axis and the pixel value difference NUMZ1 at Z axis, calculate and impact ball 19 center of gravity relative to the pixel value difference NUMY2 of the second video camera 10 image center in Y-axis; Choose the image of Y-axis coordinate maximal value in the 3rd video camera 12, this image is that trampoline 1 wire side sink the image of minimum point, calculate trampoline 1 wire side minimum point relative to the 3rd video camera 12 image center Y-axis pixel value difference NUMY3;
Step 6, calculates the spatial resolution C of video camera:
C represents the actual range between two pixels, and C=image true altitude/vertical pixel number, utilizes formula 1. to calculate the spatial resolution C3 of the spatial resolution C1 of the first video camera 9, the spatial resolution C2 of the second video camera 10 and the 3rd video camera 12,
C=2×X×tan
/B①
Wherein X is the X-axis distance of video camera and picture point to be collected, and α is the field angle of video camera, and B is the vertical pixel number of 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, is Y2 and the X-axis coordinate X1 impacting ball 19 with the difference in height of the second video camera 10,
Y1=C1×NUMY1=2×X1×tan
×NUMY1②
Y2=C2×NUMY2=2×X1×tan
×NUMY2③
Y1+Y2=ΔF④
When impact ball 19 drops on below the second video camera, 4. formula adopts Y2-Y1=100mm, and when impact ball 19 drops on above the first video camera 9,4. formula adopts Y1-Y2=100mm;
Calculate NUMY1=386 according in step 5, NUMY2=512, know again
=
=12 °, the pixel of the first video camera 9 and the second video camera 10 is 1280 × 960, i.e. B
1=
=960, just can calculate Y1=42.5 after substituting into above-mentioned formula, Y2=57.5, X1=509, obtain vertical coordinate and the lateral coordinates of impacting ball 19;
Step 8, utilizes formula 5. to calculate the longitudinal coordinate Z1 impacting ball 19
Z1=C1×NUMZ1=2×X1×tan
/
×NUMZ1⑤
Calculate NUMZ1=109 according in step 5, obtain after substituting into above-mentioned formula impacting ball 19 longitudinal coordinate Z1=12mm;
Step 9, the height impacted after ball 19 resilience is F+Y2=3150+57=3207mm, and lateral excursion is X1-L=509-500=9mm, and vertical misalignment is Z1=12mm;
Step 10, what utilize formula 6. to calculate relative 3rd video camera 12 of trampoline 1 wire side is absorbed in depth delta H,
ΔH=C3×NUMY3=2×L×tan
/
×NUMY3⑥
Wherein
be the field angle of the 3rd video camera 12,
be the vertical pixel number of the 3rd video camera 12, in step 5, calculate NUMY3=209, again known L=500mm,
=12 °, the pixel of the 3rd video camera 12 is 1280 × 960, namely
=960, NUMY3=209, substitutes into formula and 6. obtains Δ H=22.9mm;
Step 11, what utilize formula 7. to calculate trampoline 1 is absorbed in depth H,
H=H1+ΔH⑦
Obtain H=22.9+950mm=972.9mm;
Step 12, motor controller controls buncher 15 at the uniform velocity main story, is promoted to manhole 20 place by safety rope 17 by impact ball 19, electromagnet 18 energising holds 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, longitudinal motor 13 and cross motor 14 action, impact ball 19 is moved to next check point, repeat step 1 ~ 12, first video camera 9, second video camera 10 and the 3rd video camera 12 vertically move with video camera fixed bar 11, other three points of trampoline 1 wire side are detected, completes 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
×
, the pixel of the 3rd video camera 12
×
all require to be more than or equal to 1280 × 960, the pixel of three video cameras can be different.
The field angle of the first video camera 9
, 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 is only preferred embodiment of the present invention, and be not restriction the present invention being made to other form, any those skilled in the art may utilize the technology contents of above-mentioned announcement to be changed or be modified as the Equivalent embodiments of equivalent variations.But everyly do not depart from technical solution of the present invention content, any simple modification, equivalent variations and the remodeling done above embodiment 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 in trampoline (1) top the detection position adjusting mechanism driving and impact ball (19) movement in surface level, detect on position adjusting mechanism and 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 control buncher (15) and accelerate to rotate, make impact ball (19) freely falling body completely,
Detection position adjusting mechanism is fixed with a vertical video camera fixed bar (11) in the horizontal direction of impacting ball (19) and X-axis, video camera fixed bar (11) is provided with the first video camera (9) from top to bottom successively, second video camera (10) and the 3rd video camera (12), first video camera (9) and the second video camera (10) are positioned at trampoline (1) top and take the resilience image impacting ball (19), 3rd video camera (12) is positioned at trampoline (1) below shooting trampoline (1) wire side and sink image, 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 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 trampoline (1) four angle, support column (2) upper end of trampoline (1) longitudinal both sides is fixed with longitudinally guiding post (4) respectively, longitudinal sliding block (3) slides and is fixed on longitudinally guiding post (4), laterally steering post (7) is fixed with between two longitudinal sliding blocks (3), transverse slider (8) slides and is fixed on laterally steering post (7), buncher (15) and electromagnet (18) are fixed on transverse slider (8), longitudinal sliding block (3) is connected with the longitudinal driving mechanism driving its longitudinal sliding motion, transverse slider (8) is connected with the transversal driving mechanism driving 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), longitudinal motor (13) is fixed on 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, slides in longitudinal belt (5) downside in groove; Described transversal driving mechanism comprises cross motor (14) and horizontal belt (6), cross motor (14) is fixed on longitudinal sliding block (3), horizontal belt (6) revolution connects cross motor (14), horizontal belt (6) upside is fixedly connected with transverse slider (8), transverse slider (8) downside laterally offers groove, slides in horizontal belt (6) downside in groove.
4. trampoline checkout equipment according to claim 1, it is characterized in that: the output shaft of described buncher (15) is 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) impacting ball (19) diameter, manhole (20) is two ends rounding respectively up and down, 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 utilizing the trampoline checkout equipment described in any one of claim 1 ~ 4 to detect trampoline, is characterized in that: comprise the following steps:
Step 1, the position of adjustment three video cameras, after making impact ball (19) resilience, peak is positioned between the first video camera (9) and the second video camera (10), makes 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, electromagnet (18) power-off, impacts ball (19) freely falling body;
Step 3, camera control unit output pulse signal, first video camera (9) and the second video camera (10) return pulse signal gather a sub-picture simultaneously, 3rd video camera (12) is independent to be taken continuously, the image that the first video camera (9), the second video camera (10) and the 3rd video camera (12) are taken by image pick-up card stored in PC;
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 the pixel representative image of 0, pixel value is pixel representative impact ball (19) pixel of 1, calculating pixel value in the image of the first video camera (9) and the second video camera (10) is respectively that all pixels of 1 are at the coordinate mean value of vertical Y-axis and longitudinal Z axis, obtain the first video camera (9) respectively and take in image the center of gravity time series of impacting ball (19) with the second video camera (10), the image choosing Y-axis coordinate maximal value calculates and impacts ball (19) center of gravity relative to the pixel value difference NUMY1 of the first video camera (9) image center in Y-axis and the pixel value difference NUMZ1 at Z axis, calculate and impact ball (19) center of gravity relative to the pixel value difference NUMY2 of the second video camera (10) image center in Y-axis, obtain the Y-axis coordinate time sequence of trampoline (1) wire side minimum point in the image of the 3rd video camera (12), the image choosing Y-axis coordinate maximal value calculates trampoline (1) wire side minimum point relative to the pixel value difference NUMY3 of the 3rd video camera (12) image center in Y-axis simultaneously,
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,
Wherein X is the X-axis distance of video camera and picture point to be collected, and α is the field angle of video camera, and B is the vertical pixel number of 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), be Y2 and the X-axis coordinate X1 impacting ball (19) with the difference in height of the second video camera (10),
Y1+Y2＝ΔF④
Wherein α
1be the field angle of the first video camera (9), α
2be the field angle of the second video camera (10), B
1be the vertical pixel number of the first video camera (9), B
2be 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 longitudinal coordinate Z1 impacting ball (19),
Z1＝C1×NUMZ1⑤；
Step 9, calculate and impact ball (19) rebound height F+Y2, transversal displacement X1-L and vertical misalignment amount Z1, 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, what utilize formula 6. to calculate relative 3rd video camera (12) of trampoline (1) wire side is absorbed in depth delta H,
Wherein L is the X-axis distance of check point and the 3rd video camera, α
3be the field angle of the 3rd video camera, B
3it is the vertical pixel number of the 3rd video camera;
Step 11, calculates the sagging depth H of trampoline (1), and H=H1+ Δ H, H1 are the known vertical distance of the 3rd video camera (12) and trampoline (1) wire side;
Step 12, buncher (15) rotates forward and promotes impact ball (19) by safety rope (17), electromagnet (18) energising fixed punch batting (19), impact ball (19) and discharge three times in same position, get the mean value of sagging depth H impacting ball (19) rebound height F+Y2, transversal displacement X1-L, vertical misalignment amount Z1 and trampoline (1), complete the detection of a point;
Step 13, detects position adjusting mechanism and moves impact ball (19) to another check point, repeat step 1 ~ 12, detect other three points of trampoline (1), complete the detection to trampoline (1).
6. detection method according to claim 5, it is characterized in that: described second video camera (10) is 3150mm with the difference in height F of trampoline (1) wire side, 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 method for six of being moved to right by binary numeral.
8. detection method according to claim 5, it is characterized in that: the 12V rectangular pulse signal of to be frequency the be 100HZ of pulse signal described in step 3, the first video camera (9) and the second video camera (10) gather a sub-picture at the rising edge of rectangular pulse signal simultaneously.
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| CN107560818A (en) * | 2017-10-10 | 2018-01-09 | 中国人民解放军陆军工程大学 | Super-large-size drop hammer impact test device |
| CN107610564B (en) * | 2017-11-01 | 2024-04-09 | 南京卓鑫发科技有限公司 | Free falling body experimental device |
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| CN109282736A (en) * | 2018-09-12 | 2019-01-29 | 深圳市中创镁工程技术有限公司 | A kind of flatness checking device, system and method |
| US20220103277A1 (en) * | 2019-04-01 | 2022-03-31 | Tgoma Nz Limited | Synchronisation system and method |
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