CN103837225A - Measurement method for acquiring four-dimensional vibration information of vibration object surface in real time - Google Patents
Measurement method for acquiring four-dimensional vibration information of vibration object surface in real time Download PDFInfo
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Abstract
The invention relates to a measurement method for acquiring four-dimensional vibration information of vibration object surface in real time. According to the measurement method, an RGB-D camera is applied to mechanical vibration measurement, and a three-dimensional coordinate of points on the object surface can be collected without the help of any gauge points or traditional contact type sensors. The four-dimensional vibration information of all points on the vibration object surface is acquired in real time with the time axis serving as a fourth-dimensional coordinate according to the set sampling intervals, and vibration information of a signal point, multiple points, line segments or local areas on the vibration object surface can be extracted at will according to analysis and process needs to analyze vibration performance. The measurement method is high in measurement efficiency, good in real-time performance, easy to implement, low in measurement cost and good in using effect.
Description
Technical field
The present invention relates to vibration measurement technique field, particularly a kind of measuring method of utilizing the four-dimensional vibration information in RGB-D video camera Real-time Obtaining vibrating object surface.
Background technology
Vibration engineering is as an emerging engineering discipline, and it is closely related with commercial production and national economy.The theory, the technology and method that rationally use this subject, can create efficient technical economic benefit and social benefit.Harmful vibration meeting causes huge loss to mechanical industry and other industrial sectors.Therefore utilize theory, technology and the method for vibration engineering to study vibration characteristics, formulate corresponding solution, there is important practical significance to improving industrial benefit and security.
The substance of modern vibration research comprises: VIBRATION DESIGN, system identification and three aspects of environmental forecasting: 1, VIBRATION DESIGN: the in the situation that of known excitation, the vibration characteristics of design system, makes its response meet necessary requirement; 2, system identification: the characteristic of Study system under the condition of the Excitation and response of known system, determine the mathematical model of vibrational system by the method that experimental data combines with mathematical analysis.If the general type of known mechanical structure motion equation, system identification is reduced to parameter identification, and parameter identification can be carried out in frequency domain, also can in time domain, carry out, and what have need to carry out in frequency-domain and time-domain simultaneously; 3, environmental forecasting: research excitation under the characteristic of known system and the condition of response.In mechanical engineering field, for guaranteeing that plant equipment moves safely and reliably, the vibration monitoring of physical construction and diagnosis have also caused people's attention.
The research method of modern vibration research: vibration-testing is combined employing with theoretical analysis and calculation, image data on the basis of kinetic model, external drive and the condition of work of known mechanical equipment, by theory of oscillation knowledge, dynamic perfromance, the mechanical characteristic etc. of analysis and research measuring object.
The method of vibration survey has multiple, whether contacts with measured object according to vibration-measuring sensor, and the measurement of vibration can be divided into contact measurement and non-cpntact measurement.According to the difference of vibration transducer principle, can be divided into again three kinds, acceleration type, velocity profile and change in displacement detection type.Wherein acceleration type and velocity profile belong to contact measurement type, need be fixed on testee when use, and change in displacement detection type both can belong to contact measurement type also can belong to non-cpntact measurement type.
1, contact type measurement: contact measurement method by installation of sensors on selected measuring position, utilize the measuring principle (as: piezoelectric type of sensor, resistance-type, survey sensors such as electrodynamic type) conversion of settling signal amount, obtain the vibration data of sensor paste position.According to detecting frequency, acceleration type vibration-measuring sensor is mainly used in intermediate frequency to high-frequency range, and velocity profile vibration-measuring sensor is mainly used in intermediate frequency range, and displacement detecting type is mainly used in direct current to low-frequency range.There is following some deficiency in contact type measurement: the dimension of (1) vibration survey data is low; (2) cannot directly measure without sensing station vibration information, other can only be predicted by mathematical model without sensing station; (3) for multimetering situation, can only rely on to increase and place number of sensors, or take multiple measurements, increase measurement cost, reduce measurement efficiency; (4) displacement transducer is not suitable for measuring violent oscillatory motion, and acceleration and speed pickup error in low frequency vibration measurement is larger.
2, non-contact measurement: non-cpntact measurement is take the technology such as photoelectricity, electromagnetism as basis, in the situation that not contacting testee surface, obtains the measuring method of body surface parameter information.Typical non-contact measurement method is as laser triangulation, electric vortex method, ultrasonic method of measuring, machine vision metrology etc.Existing machine vision metrology method specifically comprises the measuring method such as monocular vision, binocular stereo vision.There is following some deficiency in non-contact measurement: equipment complexity, the costlinesses such as (1) laser triangulation, ultrasonic method of measuring, measure cost high; (2) utilize the monocular vision measuring method of visible images blocked by illumination variation, shade object and the interference of the factor such as environmental change larger; (3) binocular stereo vision measurement method need to be put the three-dimensional vibrating information that just can obtain gauge point place by identification marking, and on vibration surface, unmarked dot position information cannot directly be measured.
Utilize depth camera to carry out the technology that depth information of scene measurement is rising in recent years, this mainly has benefited from the cost of depth map video camera, particularly Microsoft release a RGB-D video camera: Kinect, greatly excited researcher by RGB-D camera application to each research fields such as medical science, amusement, machineries.
Kinect comprises 3 cameras, and middle camera lens is RGB colour TV camera, and the right and left camera lens is respectively infrared transmitter and infrared C OMS video camera, and sensor can obtain RGB and depth image data simultaneously.The principle of Kinect Depth Imaging is to utilize light coding (Light Coding) technology, wherein, infrared transmitter and the angled scene that aims at the mark of infrared C OMS video camera, and inhomogeneous transparent medium is positioned over before generating laser camera lens, infrared transmitter is launched a branch of infrared ray and in scene, is formed laser speckle through after inhomogeneous medium, CMOS infrared remote receiver obtains speckle image, and uses mathematics triangle relation to be converted into depth value according to Kinect inner parameter.Sensor is with the speed generating depth map picture stream of 30 frames per second, and in conjunction with depth map image coordinate and pinhole imaging system principle, Real-time Obtaining is measured the three-dimensional information of the body surface in visual field.
Compared with the touch sensor traditional with other, non-contacting sensor, the advantage of Kinect depth camera is: (1) disposable obtain in scene four-dimensional information a little; (2) without the three-dimensional information that can obtain scene point by other gauge point of identification; (3) real-time of image data is good; (4) to take the depth map resolution of obtaining higher for Kinect; (5) while obtaining depth information, be subject to illumination effect little; (6) Kinect is cheap, and use cost is low.
Summary of the invention
The measuring method that the object of the present invention is to provide the four-dimensional vibration information in a kind of Real-time Obtaining vibrating object surface, it is high that the method is not only measured efficiency, and real-time is good, and is easy to realize, and measures cost low, and result of use is good.
For achieving the above object, technical scheme of the present invention is: the measuring method of the four-dimensional vibration information in a kind of Real-time Obtaining vibrating object surface, comprises the following steps:
(1) obtain three-dimensional information: utilize RGB-D video camera speckle range measurement principle to measure vibrating object surface, obtain vibrating object surface depth information a little, the depth information of each point is mapped in RGB-D camera coordinates space by pinhole imaging system principle with x, y image coordinate corresponding on depth map, under the condition by any gauge point or touch sensor not, obtain vibrating object surface three-dimensional information (X a little, Y, Z);
(2) obtain four-dimensional information: according to the frame per second of described RGB-D video camera
fset vibration data sampling time interval Δ
t, utilize the real-time of RGB-D camera acquisition data, vibrating object of each moment of real time record surface institute three-dimensional information a little, obtain vibrating object surperficial four-dimensional information (X, Y, Z, t) a little;
(3) extract target measurement point: extract according to actual needs the four-dimensional information of point, line or the local area of optional position on vibration surface, analyze its vibration characteristics.
Further, described step (2) comprises the following steps:
(2.1) according to video camera frame per second
fwith sampling time interval Δ
tinversely proportional relation, by the frame per second of described RGB-D video camera
fset vibration data sampling time interval Δ
t;
(2.2) utilize the real-time of described RGB-D camera acquisition data, per interval Δ
tgather one time vibration data, under real time record each moment vibrating object surface three-dimensional information a little;
(2.3) according to the definition of four dimensional spacetime coordinate, get four coordinate axis composition four dimensional spacetime coordinate systems of X-axis, Y-axis, Z axis, time shaft, the three-dimensional vibrating information four dimensional spacetime coordinate system of inscribing when each is expressed, obtain vibrating object surface four-dimensional information (X a little, Y, Z, t).
Further, described step (3) comprises the steps:
(3.1) need the time interval Δ of Analysis on Selecting data according to analysis
t ', Δ
t '>=Δ
t;
(3.2) according to analyzing point, line or the local area that need to determine on the vibration surface position on vibration surface;
(3.3) according to step (3.1), (3.2) determined time interval and position, extract the four-dimensional information of target location on vibration surface, evaluating objects position is at the vibration Changing Pattern of time domain, frequency domain;
(3.4) the some cloud of inscribing when virtual planar cross-sectional of structure and each intersects vertically, on vibration surface, the point of target location or line are positioned at this cross section and put cloud intersection location place, the point cloud of virtual cross section one side is removed, and the point of object observing position or the vibration of line intuitively changes.
Compared to prior art, the invention has the beneficial effects as follows RGB-D camera application in vibration survey, under the condition by any gauge point or traditional touch sensor not, can collect the three-dimensional coordinate of body surface point, add time coordinate, can obtain in real time the four-dimensional vibration information on vibrating object surface, and can need to extract according to analyzing and processing the single-point of vibration surface optional position, multiple spot, the vibration information of line segment or local area, analyze its vibration characteristics, having overcome traditional touch sensor vibration survey and binocular stereo vision, to measure dimension in measuring low, cannot directly measure without sensor or unmarked some place vibration information, measurement cost is high, measure the low deficiency that waits of efficiency, not only measure efficiency high, be easy to realize, measurement cost is low, and the collection of vibration information is subject to illumination effect very little, measure low frequency signal good stability, there is very strong practicality and wide application prospect.
Accompanying drawing explanation
Fig. 1 is RGB-D video camera measuring vibrations signal model figure in the embodiment of the present invention.
Fig. 2 be in the embodiment of the present invention each time point cloud and the impact point inscribed
p 1the extraction schematic diagram of four-dimensional vibration information.
Fig. 3 is impact point in the embodiment of the present invention
p 1extract the visualize form schematic diagram of result.
Fig. 4 is impact point in the embodiment of the present invention
p 1x, Y, Z coordinate temporal evolution curve map.
Embodiment
The measuring method of the four-dimensional vibration information in Real-time Obtaining vibrating object of the present invention surface, comprises the following steps:
(1) obtain three-dimensional information: utilize RGB-D video camera speckle range measurement principle to measure vibrating object surface, obtain vibrating object surface depth information a little, the depth information of each point is mapped in RGB-D camera coordinates space by pinhole imaging system principle with x, y image coordinate corresponding on depth map, under the condition by any gauge point or touch sensor not, obtain vibrating object surface three-dimensional information (X a little, Y, Z);
(2) obtain four-dimensional information: according to the frame per second of described RGB-D video camera
fset vibration data sampling time interval Δ
t, utilize the real-time of RGB-D camera acquisition data, vibrating object of each moment of real time record surface institute three-dimensional information a little, obtain vibrating object surperficial four-dimensional information (X, Y, Z, t) a little, specifically comprise the following steps:
(2.1) according to video camera frame per second
fwith sampling time interval Δ
tinversely proportional relation, by the frame per second of described RGB-D video camera
fset vibration data sampling time interval Δ
t;
(2.2) utilize the real-time of described RGB-D camera acquisition data, per interval Δ
tgather one time vibration data, under real time record each moment vibrating object surface three-dimensional information a little;
(2.3) according to the definition of four dimensional spacetime coordinate, get four coordinate axis composition four dimensional spacetime coordinate systems of X-axis, Y-axis, Z axis, time shaft, the three-dimensional vibrating information four dimensional spacetime coordinate system of inscribing when each is expressed, obtain vibrating object surface four-dimensional information (X a little, Y, Z, t).
(3) extract target measurement point: extract according to actual needs the four-dimensional information of point, line or the local area of optional position on vibration surface, analyze its vibration characteristics, specifically comprise the steps:
(3.1) need the time interval Δ of Analysis on Selecting data according to analysis
t ', Δ
t '>=Δ
t;
(3.2) according to analyzing point, line or the local area that need to determine on the vibration surface position on vibration surface;
(3.3) according to step (3.1), (3.2) determined time interval and position, extract the four-dimensional information of target location on vibration surface, evaluating objects position is at the vibration Changing Pattern of time domain, frequency domain;
(3.4) the some cloud of inscribing when virtual planar cross-sectional of structure and each intersects vertically, on vibration surface, the point of target location or line are positioned at this cross section and put cloud intersection location place, the point cloud of virtual cross section one side is removed, and the point of object observing position or the vibration of line intuitively changes.
Below in conjunction with drawings and the specific embodiments, the invention will be further described.
1, as shown in Figure 1, RGB-D video camera is selected the Kinect model RGB-D video camera of Microsoft's exploitation, and vibrating object is selected steel sheet, and steel sheet one end is fixed, and one end applies the sinusoidal excitation F from 5 to 15Hz variations with frequency, makes steel plate produce vibration.
2, utilize the speckle range measurement principle of Kinect video camera obtain vibration surface in camera coverage depth information (depth value) a little, each time inscribe all depth informations and represent with a depth map respectively, each depth value has corresponding x, y image coordinate (x, y) on depth map.
3, demarcate respectively depth camera and colour TV camera, obtain their inner parameter: focal length, principal point coordinate, distortion parameter, utilize and demarcate the inner parameter obtaining, by pinhole imaging system principle by all image coordinate (x, y) be mapped in camera coordinates space, obtain the coordinate (X of vibrometer millet cake in camera coordinates space, Y), can obtain under not by the condition of any gauge point or touch sensor on vibrating object surface three-dimensional information (X a little, Y, Z) (Z coordinate equals depth value).
4, as shown in Figure 2, set vibration data sampling time interval Δ t by the frame per second f of RGB-D video camera, the three-dimensional information of each moment vibration surface under real time record, and by four dimensional spacetime coordinate system expression vibration surface information: (X, Y, Z, t).
4.1 according to video camera frame per second f and the inversely proportional relation of sampling time interval Δ t, sets vibration data sampling time interval by the frame per second f of RGB-D video camera
.
4.2 utilize the real-time of Kinect camera acquisition data, and per interval Δ t gathers a vibration data, the three-dimensional information of each moment vibration surface under real time record.
4.3 according to the definition of four dimensional spacetime coordinate, get X-axis, Y-axis, Z axis, four coordinate axis composition four dimensional spacetime coordinate systems of time shaft, the three-dimensional vibrating information of inscribing during by each is expressed with four dimensional spacetime coordinate system, can obtain the four-dimensional information of points all on vibration surface: (X, Y, Z, t).
5, obtain after the four-dimensional information of whole vibration surface, the vibration information that researcher extracts point, line or the local area of optional position on vibration surface according to actual needs carries out specific aim research.
5.1 need Analysis on Selecting data time interval delta according to analysis
t ',
t i+ 1
=
t i + Δ
t ', (i=0,1,2 ..., ∞),
t 0=0, Δ
t '>=Δ
t.
5.2 according to analyzing point, line or the local area that need to determine on the vibration surface position on vibration surface, in Fig. 2 example, selects on vibration surface
p 1point place analyzes.
5.3 according to 5.1,5.2 two determined positions of step and the time interval, extracts the four-dimensional information of target location on vibration surface, and evaluating objects position is at the vibration Changing Pattern of time domain, frequency domain.
5.4 as shown in Figure 2, the point cloud of inscribing while constructing a virtual planar cross-sectional A and each intersects vertically, on vibration surface, the point of target location or line are positioned at this cross section and put cloud intersection location place, the point cloud of virtual cross section one side is removed, just the point of object observing position or the vibration of line change intuitively, as shown in Figure 3, Figure 4.
6, the point extracting is carried out to the data analysis processing such as oscillating curve analysis, vibration signal spectrum analysis, for next step in-depth analysis vibrating object mechanical property is prepared.
7, under equal vibrational excitation condition and vibration survey object, carry out respectively vibration survey with contact power sensor and Bumblebee2 binocular stereo camera, the vibration survey result that the result of obtaining and Kinect obtain contrasts, in the situation that vibration frequency is no more than 15Hz, compare error is no more than 0.6mm.
Be more than preferred embodiment of the present invention, all changes of doing according to technical solution of the present invention, when the function producing does not exceed the scope of technical solution of the present invention, all belong to protection scope of the present invention.
Claims (3)
1. a measuring method for the four-dimensional vibration information in Real-time Obtaining vibrating object surface, is characterized in that, comprises the following steps:
(1) obtain three-dimensional information: utilize RGB-D video camera speckle range measurement principle to measure vibrating object surface, obtain vibrating object surface depth information a little, the depth information of each point is mapped in RGB-D camera coordinates space by pinhole imaging system principle with x, y image coordinate corresponding on depth map, under the condition by any gauge point or touch sensor not, obtain vibrating object surface three-dimensional information (X a little, Y, Z);
(2) obtain four-dimensional information: according to the frame per second of described RGB-D video camera
fset vibration data sampling time interval Δ
t, utilize the real-time of RGB-D camera acquisition data, vibrating object of each moment of real time record surface institute three-dimensional information a little, obtain vibrating object surperficial four-dimensional information (X, Y, Z, t) a little;
(3) extract target measurement point: extract according to actual needs the four-dimensional information of point, line or the local area of optional position on vibration surface, analyze its vibration characteristics.
2. the measuring method of the four-dimensional vibration information in a kind of Real-time Obtaining vibrating object surface according to claim 1, is characterized in that, described step (2) comprises the following steps:
(2.1) according to video camera frame per second
fwith sampling time interval Δ
tinversely proportional relation, by the frame per second of described RGB-D video camera
fset vibration data sampling time interval Δ
t;
(2.2) utilize the real-time of described RGB-D camera acquisition data, per interval Δ
tgather one time vibration data, under real time record each moment vibrating object surface three-dimensional information a little;
(2.3) according to the definition of four dimensional spacetime coordinate, get four coordinate axis composition four dimensional spacetime coordinate systems of X-axis, Y-axis, Z axis, time shaft, the three-dimensional vibrating information four dimensional spacetime coordinate system of inscribing when each is expressed, obtain vibrating object surface four-dimensional information (X a little, Y, Z, t).
3. the measuring method of the four-dimensional vibration information in a kind of Real-time Obtaining vibrating object surface according to claim 1, is characterized in that, described step (3) comprises the steps:
(3.1) need the time interval Δ of Analysis on Selecting data according to analysis
t ', Δ
t '>=Δ
t;
(3.2) according to analyzing point, line or the local area that need to determine on the vibration surface position on vibration surface;
(3.3) according to step (3.1), (3.2) determined time interval and position, extract the four-dimensional information of target location on vibration surface, evaluating objects position is at the vibration Changing Pattern of time domain, frequency domain;
(3.4) the some cloud of inscribing when virtual planar cross-sectional of structure and each intersects vertically, on vibration surface, the point of target location or line are positioned at this cross section and put cloud intersection location place, the point cloud of virtual cross section one side is removed, and the point of object observing position or the vibration of line intuitively changes.
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| CN105651377A (en) * | 2016-01-11 | 2016-06-08 | 衢州学院 | Video data mining-based non-contact object vibration frequency measurement method |
| CN107271025A (en) * | 2017-06-20 | 2017-10-20 | 福州大学 | A kind of device and method of rotating shaft three-dimensional vibrating synchro measure |
| CN107702787A (en) * | 2017-09-29 | 2018-02-16 | 福州大学 | Visual vibrating displacement four-dimension measuring method based on common picture pick-up device |
| CN109883533A (en) * | 2019-01-21 | 2019-06-14 | 哈尔滨工业大学（深圳） | Low frequency vibration measurement method based on machine vision |
| CN110160770A (en) * | 2019-06-25 | 2019-08-23 | 沈阳工业大学 | High-speed rotary main shaft real-time detection apparatus and its detection method |
| CN110595603A (en) * | 2019-04-26 | 2019-12-20 | 深圳市豪视智能科技有限公司 | Video-based vibration analysis method and related product |
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| CN114724044A (en) * | 2022-03-03 | 2022-07-08 | 北京航空航天大学 | Anti-interference satellite flexible accessory coupling moment identifier based on transformer |
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| CN105651377A (en) * | 2016-01-11 | 2016-06-08 | 衢州学院 | Video data mining-based non-contact object vibration frequency measurement method |
| CN105651377B (en) * | 2016-01-11 | 2018-12-07 | 衢州学院 | A kind of non-contact object vibration frequency measurement method based on video data digging |
| CN107271025A (en) * | 2017-06-20 | 2017-10-20 | 福州大学 | A kind of device and method of rotating shaft three-dimensional vibrating synchro measure |
| CN107271025B (en) * | 2017-06-20 | 2023-04-11 | 福州大学 | Device and method for synchronously measuring three-dimensional vibration of rotating shaft |
| CN107702787A (en) * | 2017-09-29 | 2018-02-16 | 福州大学 | Visual vibrating displacement four-dimension measuring method based on common picture pick-up device |
| CN109883533B (en) * | 2019-01-21 | 2021-05-25 | 哈尔滨工业大学（深圳） | Low-frequency vibration measurement method based on machine vision |
| CN109883533A (en) * | 2019-01-21 | 2019-06-14 | 哈尔滨工业大学（深圳） | Low frequency vibration measurement method based on machine vision |
| CN110595603A (en) * | 2019-04-26 | 2019-12-20 | 深圳市豪视智能科技有限公司 | Video-based vibration analysis method and related product |
| CN110617873A (en) * | 2019-04-26 | 2019-12-27 | 深圳市豪视智能科技有限公司 | Method for detecting vibration of cable and related product |
| CN110631680A (en) * | 2019-04-26 | 2019-12-31 | 深圳市豪视智能科技有限公司 | Vibration detection system |
| CN110631680B (en) * | 2019-04-26 | 2021-10-15 | 深圳市豪视智能科技有限公司 | Vibration detection system |
| CN110595603B (en) * | 2019-04-26 | 2022-04-19 | 深圳市豪视智能科技有限公司 | Video-based vibration analysis method and related product |
| CN110160770A (en) * | 2019-06-25 | 2019-08-23 | 沈阳工业大学 | High-speed rotary main shaft real-time detection apparatus and its detection method |
| CN110160770B (en) * | 2019-06-25 | 2021-12-21 | 沈阳工业大学 | Real-time detection device and method for high-speed rotating main shaft |
| CN114724044A (en) * | 2022-03-03 | 2022-07-08 | 北京航空航天大学 | Anti-interference satellite flexible accessory coupling moment identifier based on transformer |
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Application publication date: 20140604 |