CN104614064A - High speed multi-dimensional vibration measuring device and method based on stripe target - Google Patents
High speed multi-dimensional vibration measuring device and method based on stripe target Download PDFInfo
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- CN104614064A CN104614064A CN201510074835.6A CN201510074835A CN104614064A CN 104614064 A CN104614064 A CN 104614064A CN 201510074835 A CN201510074835 A CN 201510074835A CN 104614064 A CN104614064 A CN 104614064A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H9/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by using radiation-sensitive means, e.g. optical means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
Abstract
The invention relates to a high speed multi-dimensional vibration measuring device and method based on a stripe target. The device comprises a stripe target, an imaging module, a signal control and processing module and a display module. The method includes the following steps: arranging the stripe target on a vibration structure to be measured; adopting an image module to conduct continuous imaging and recording on the stripe target; utilizing the imaging module to transmit the image of the stripe target to the signal control and processing module; utilizing the signal control and processing module to conduct Fourier transform on the stripes at the same position of the same stripe target in each frame of the image, adopting a certain peak value frequency correction method to accurate correct the peak value frequency, and then utilizing the imaging mathematical relation and the corrected peak value frequency to obtain a time domain curve with stripe target structure vibration, namely acquiring structure vibration signals through reduction; displaying an image processing result through a display module or conducting further data processing through vibration signals. By means of the device and method, vibration measurement of points, lines and faces in certain range is achieved, the measurement speed is high, and the accuracy is high.
Description
Technical field
The present invention relates to a kind of high-speed multi-dimension degree vibration measurement device based on striped target and method, particularly a kind ofly utilize the vibration of non-contact method to micron order and grade amplitude to carry out the device and method measured at a high speed, belong to optical measurement vibrotechnique field.
Background technology
Vibration is a kind of basic forms of motion that object exists, and is present in the life production field of the Nature and people widely, as the engine running vibration of earthquake, loudspeaker vibration, various machine and the forced vibration etc. of the Large Infrastructure Projects such as railway and bridge.Vibration measurement technique is as a kind of effective means solving Engineering Vibration problem, and through personages of various circles of society's exploration for many years, theory of oscillation and vibration measurement technique and application have all been made significant headway.In conjunction with advanced electronic technology and sensing technology, the vibration survey that the difficulty of making over is larger is achieved, for example (,) the vibration of extremely high frequency or extremely low frequency, micro-vibration, the small-sized or vibration of light weight type structure, the vibration etc. of high speed rotor.
Mechanical vibration belong to a kind of destruction source and interference source in some fields, have destruction to structure, as caused wearing and tearing, the fatigue and distortion etc. of some elements, also can produce noise, causing the pollution etc. of environment.At present, vibration measurement technique is mainly divided into following three kinds of methods: mechanical type vibration survey, electric vibration survey, vibration of optical are measured.Traditional mechanical type vibration survey adopts the measurement of contact mostly, as adopted acceleration transducer, piezoelectric ceramics, resistance strain gage etc.When ignoring quality and the Contact Effect of these senser elements, these measuring methods have certain advantage and measuring accuracy; But when measuring some and comparing the structure of lightweight, the quality of these senser elements own or the impact on inspected object just can not be ignored.Such as, when lighter structure measured by acceleration transducer, the quality of sensor own has impact to a certain degree in the mode of structure diverse location on structure, finally causes surveyed modal parameter to change to some extent, thus affects precision and the reliability of fault of construction detection.
For can not by the occasion of sensor or contact measurement, non-contacting vibration detects just becomes very important detection method.As the measurement of eddy current sensor for vibrating, its measurement has non-linearity and just can only can carry out non-contact measurement to metal object; The contactless measurement of some other optics is substantially all carry out detecting based on the interference technique of light, accuracy of detection can reach higher level, but this type of non-contact method such as laser or white light interferometry method all need to ensure that reference light can be in can produce in the condition of interference with detection light, and often interference signal often can be subject to the impact of inspected object surfaceness or locus always; These detection methods mostly can only to a point or simultaneously a few point measure, just need extra hardware to drop into when carrying out multiple spot, large-range measuring.
Therefore design a kind of accurately, simple and can realize single point-to-multipoint synchronous vibration measurement mechanism when not increasing hardware cost and method significant.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, provide a kind of high-speed multi-dimension degree vibration measurement device based on striped target and method, this device and method can realize the vibration survey to point in certain limit, line and face, and measuring speed is fast, and precision is high.
To achieve these goals, technical scheme of the present invention is: a kind of high-speed multi-dimension degree vibration measurement device based on striped target, comprising:
Striped target, is arranged at vibrational structure to be measured surface, for the locus of described vibrational structure to be measured of encoding;
Image-forming module, for carrying out continuous imaging and record to the striped target on described vibrational structure to be measured, and controls the striped target image transmitting collected and processing module to signal;
Signal controls and processing module, for controlling described image-forming module and display module, also carry out image procossing for carrying out data communication with described image-forming module and transmitting to it striped target image come, processing result image can carry out showing or do further data processing and analysis operation in display module;
Display module, for showing the processing result image that described signal controls and processing module is sent.
Further, described striped target is striped target lightweight paster, and the front of described striped target lightweight paster is black and white strip image, and the back side is viscous layer, and sticks in described vibrational structure surface to be measured.
Further, described striped target designs as follows:
Be less than the vibrational structure to be measured of the first setting value with measurement range for measuring to count, striped target adopts fringe density to be less than the single frequency sinusoidal striped of the second setting value;
The vibrational structure to be measured of the first setting value is not less than with measurement range for measuring to count, striped target adopts fringe density to be greater than the single frequency sinusoidal striped of the 3rd setting value, and on the basis of adopted single frequency sinusoidal striped, superposition and single frequency sinusoidal signal frequency differ by more than the low frequency signal of the 4th setting value, the low frequency signal of diverse location superposition is different, locates the striped target of vibrational structure diverse location to be measured with this.
Further, one of the shape of described striped target is strip; For rotating object, striped target is designed to the strip striped target that fringe period becomes sinusoidal variations or cycle to fix, described strip striped scoring ring equal with rotating object surface perimeter for length is affixed on rotating object circumferential surface, to measure the vibration of described rotating object.
Further, described image-forming module is primarily of face battle array imaging sensor and optical imaging lens composition.
Further, described image-forming module is the adjustable high-speed camera of acquisition frame rate, is covered with the dead ahead, vibrational structure surface to be measured of striped target, to enable striped target blur-free imaging on the battle array imaging sensor of face described in described high-speed camera is arranged at.
Present invention also offers a kind of high-speed multi-dimension degree vibration measurement method based on striped target, comprise the following steps:
A. on vibrational structure to be measured, arrange striped target, and set image-forming module;
B. along with the vibration of vibrational structure to be measured, the striped target pasting its surface also vibrates thereupon, adopts image-forming module to carry out continuous imaging and record to striped target;
C. the striped target image transmitting collected controls and processing module to signal, to carry out image procossing by image-forming module;
D. signal control and processing module are carried out Fourier transform to the striped of same position on striped target same in every two field picture and adopt certain crest frequency bearing calibration to carry out accurate correction to crest frequency;
E. signal control and processing module obtain by the crest frequency of imaging mathematical relation and correction the time-domain curve being covered with the place's structural vibration of striped target, namely restore the vibration signal of vibrational structure to be measured;
F. show processing result image by display module or pass through calculated time domain vibration signal and do further data processing and analysis.
Further, described crest frequency bearing calibration is the bearing calibration of discrete spectrum time shift phase difference, and its relationship is:
Δφ = φ – φ
0 = -2πa
1T(ω - Δω)
Wherein, Δ φ is two sections of continuous stripe signals through translation and the phase differential that obtains after adding different window function, φ and φ
0be the phase place of two segment signals, T is the length of added symmetry-windows, continuous signal translation a
1t obtains another signal, wherein a
1>0; ω is the crest frequency correcting front signal discrete spectrum, and Δ ω is correction quantity of frequency, is obtained by above-mentioned formula:
Δω = ( 2πa
1Tω - Δφ)∕2πa
1T
The actual displacement computing formula of vibrational structure to be measured is:
ΔZ(n, t) = Z
1(n)[ ω
2(n, t)∕ω
1(n) – 1]
Wherein, n is the sequence number of striped target, and Δ Z (n, t) is the relative displacement calculated, Z
1n () is the initial distance between the n-th striped target and camera lens, ω
1n () is that the n-th striped target is positioned at Z
1original frequency after (n) place streak correction, ω
2(n, t) is the frequency of the n-th stripe target when displacement is Δ Z after streak correction; By calculating the relative frequency change of every frame bar line on vibrational structure to be measured, then calculate through displacement the time-domain curve that formulae discovery acquisition is covered with the place's structural vibration of striped target.
Compared with prior art, the present invention has following beneficial effect: (1) can realize carrying out Quick Measurement to the vibration of body surface, namely do not need the sensor carrying out complexity as that in contact type measurement system to arrange and systematic parameter adjustment, do not need to carry out interference signal adjustment as optical interference method yet.(2) displacement or the vibration survey of various dimensions (micron order and grade Oscillation Amplitude) can be realized, the vibration data that can obtain any striped target position place is analyzed, namely disposablely the synchro measure of multiple spot can be carried out to object being measured and can model analysis be carried out, for other can only detect any measurement mechanism, there is many-sided advantage such as speed, precision and stability.In addition, sensing range of the present invention can be micron order or grade, and the measurement for large scale deformation and vibration does not need to utilize the method for phase-modulation to expand detected amplitude scope further as other optical means.
Below in conjunction with drawings and the specific embodiments, the present invention is described in further detail.
Accompanying drawing explanation
Fig. 1 is the apparatus structure schematic diagram of the embodiment of the present invention.
Fig. 2 is the imaging geometry figure of image-forming module in the embodiment of the present invention.
Fig. 3 is the schematic shapes of a kind of striped target in the embodiment of the present invention.
Fig. 4 is shape and location layout's schematic diagram of a kind of striped target for measuring girder construction vibration in the embodiment of the present invention.
Fig. 5 is shape and location layout's schematic diagram of a kind of striped target for measuring plate structure vibration in the embodiment of the present invention.
Fig. 6 is the measuring process process flow diagram of the method for the embodiment of the present invention.
Fig. 7 is the data processing step process flow diagram of the method for the embodiment of the present invention.
Fig. 8 is the linearly coupled Three-dimensional Time Domain surface chart detecting thin plastics cantilever beam structure in the embodiment of the present invention.
Fig. 9 is the three-dimensional spectrogram of linearly coupled time domain curved surface detecting thin plastics cantilever beam structure in the embodiment of the present invention.
Figure 10 is first three the rank mode curve detecting thin plastics cantilever beam structure in the embodiment of the present invention.
In figure, 1-computing machine, 2-data line, 3-image-forming module (high-speed camera), 4-optical imaging lens, 5-vibrator, 6-power amplifier, 7-signal generator, 8-vibrational structure to be measured, 9-striped target, 10-face battle array imaging sensor.
Embodiment
Fig. 1 is the apparatus structure schematic diagram of the embodiment of the present invention.As shown in Figure 1, the present invention is based on the high-speed multi-dimension degree vibration measurement device of striped target, comprise striped target 9, image-forming module 3, signal control and processing module and display module.Striped target 9, is arranged at vibrational structure 8 to be measured surface, for the locus of vibrational structure 8 to be measured of encoding.Image-forming module 3, carries out continuous imaging and record for treating the striped target 9 surveyed on vibrational structure 8, and the striped target image collected is transferred to signal control and processing module by data line 2.Signal controls and processing module, for controlling image-forming module 3 and display module, also carry out image procossing for carrying out data communication with image-forming module 3 and it being transmitted to the striped target image come, processing result image can carry out showing or do further data processing and analysis operation in display module.Display module, for the processing result image that display controls and processing module is sent.In the present embodiment, signal controls and processing module and display module are integrated on computing machine 1.
In the present embodiment, vibrational structure 8 to be measured is semi-girder, the vibration experiment instrument that vibrator 5, power amplifier 6 and signal generator 7 add for the present embodiment, produces exciting for treating survey vibrational structure 8.During work, signal generator 7 produces oscillation control signal and carries out power amplification through power amplifier 6, then inputs vibrator 5 and drive vibrator to vibrate.Drive singal in the present embodiment is the swept-frequency signal of 0-80Hz, to carry out swept frequency excitation to semi-girder.These equipment can be removed in actual measurement process, directly the vibrational structure to be measured 8 with striped target be measured.
Fig. 2 is the imaging geometry figure of image-forming module in the embodiment of the present invention.In the present embodiment, image-forming module 3 is the adjustable high-speed camera of acquisition frame rate, and it forms primarily of face battle array imaging sensor 10 and optical imaging lens 4.High-speed camera is arranged at the dead ahead, vibrational structure surface to be measured being covered with striped target, to enable striped target blur-free imaging on the battle array imaging sensor of face.Regulate optical imaging lens to make striped target blur-free imaging, set the acquisition frame rate of high-speed camera to carry out image acquisition record.
Striped target 9 in the present embodiment is striped target lightweight paster, and the front of striped target lightweight paster is black and white strip image, and the back side is viscous layer, and can stick in the vibrational structure surface to be measured of the material such as engineering plastics, metal; When carrying out vibration survey, striped target lightweight paster is sticked in the relevant position of vibrational structure to be measured, the synchro measure of the vibration within the scope of point, line and face can be carried out, carry out the setting of image-forming module parameter according to actual environment and Vibration Condition after arranging striped target and carry out the collection of vibrator bar line target image.Fig. 3 is the schematic shapes of a kind of striped target in the embodiment of the present invention.In figure, the shape of striped target is strip.For rotating object, striped target is designed to the strip striped target that fringe period becomes sinusoidal variations or cycle to fix, strip striped scoring ring equal with rotating object surface perimeter for length is affixed on rotating object circumferential surface, to measure the vibration of rotating object.
In the present invention, striped target designs as follows: 1, to count and measurement range is less than the vibrational structure to be measured of the first setting value for measuring, close together between camera and striped target, single striped target imaging resolution is on an imaging sensor large, the striped target of design adopts simple single frequency sinusoidal striped, fringe density can be less, as being less than the second setting value, 2, the vibrational structure to be measured of the first setting value is not less than with measurement range for measuring to count, distant between camera and striped target, single striped target imaging resolution is on an imaging sensor little, striped target adopts fringe density to be greater than the single frequency sinusoidal striped of the second setting value, and the fringe density of single frequency sinusoidal striped can be more greatly in the distinguishable scope of camera, as being greater than the 3rd setting value, but for the ease of positioning process to the striped target of distribution, on the basis of adopted single frequency sinusoidal striped, superpose one differs comparatively large (as the 4th setting value) low frequency signal with the sinusoidal signal frequency of single-frequency, the low frequency signal of diverse location superposition is different, the striped target of vibrational structure diverse location to be measured is located with this.
Such as, Figure 4 and 5 are schematic shapes of a kind of striped target for measuring beam and plate structure vibration in the embodiment of the present invention.In the engineering survey of reality, different striped targets can be designed according to the difformity of structure, the unlisted all various different structures of this patent, but all belong to protection scope of the present invention based on the measurement that method of the present invention is carried out.
Present invention also offers the high-speed multi-dimension degree vibration measurement method adopting said apparatus, as shown in Figure 6,7, comprise the following steps:
A. as shown in Figure 6, select suitable striped target, vibrational structure to be measured arranges striped target, and sets image-forming module.
B. along with the vibration of vibrational structure to be measured, the striped target pasting its surface also vibrates thereupon, adopts image-forming module to carry out continuous imaging and record to striped target.
C. the striped target image transmitting collected is controlled and processing module to signal, to carry out image procossing by data line by image-forming module.
D. as shown in Figure 7, signal control and processing module are carried out Fourier transform to the striped of same position on striped target same in every two field picture and adopt certain crest frequency bearing calibration to carry out accurate correction to crest frequency.
E. signal control and processing module obtain by the crest frequency of imaging mathematical relation and correction the time-domain curve being covered with the place's structural vibration of striped target, namely restore the vibration signal of vibrational structure to be measured.
F. show processing result image by display module or pass through calculated time domain vibration signal and make further data processing and analysis operation.
Wherein, crest frequency bearing calibration is the bearing calibration of discrete spectrum time shift phase difference, due to the image resolution ratio that imaging sensor is limited, can reveal the striped produce power gathered, there is error in the frequency obtained after making Fourier transform to stripe signal, adopt the bearing calibration of discrete spectrum time shift phase difference to correct it, improve the spatial frequency resolution of striped, its relationship is:
Δφ = φ – φ
0 = -2πa
1T(ω - Δω)
Wherein, Δ φ is two sections of continuous stripe signals through translation and the phase differential that obtains after adding different window function, φ and φ
0be the phase place of two segment signals, T is the length of added symmetry-windows, continuous signal translation a
1t obtains another signal, wherein a
1>0; ω is the crest frequency correcting front signal discrete spectrum, and Δ ω is correction quantity of frequency, is obtained by above-mentioned formula:
Δω = ( 2πa
1Tω - Δφ)∕2πa
1T
The actual displacement computing formula of vibrational structure to be measured is:
ΔZ(n, t) = Z
1(n)[ ω
2(n, t)∕ω
1(n) – 1]
Wherein, n is the sequence number of striped target, and Δ Z (n, t) is the relative displacement calculated, Z
1n () is the initial distance between the n-th striped target and camera lens, ω
1n () is that the n-th striped target is positioned at Z
1original frequency after (n) place streak correction, ω
2(n, t) is the frequency of the n-th stripe target when displacement is Δ Z after streak correction; By calculating the relative frequency change of every frame bar line on vibrational structure to be measured, then calculate through displacement the time-domain curve that formulae discovery acquisition is covered with the place's structural vibration of striped target.
The Three-dimensional Time Domain vibration curved surface at semi-girder length direction each striped target place that Fig. 8 utilizes this high-speed multi-dimension degree vibration measurement device to record for plastics cantilever beam structure thin in the embodiment of the present invention under swept-frequency signal excitation.Fig. 9 is the three-dimensional spectrogram that in Fig. 8, time domain vibration plane FFT obtains after converting, and can obtain first three rank resonant frequency of cantilever beam structure from figure.The vibration shape mode curve of cantilever beam structure when Figure 10 is corresponding resonant frequency in Fig. 9: solid line is a first order mode, and dotted line is second_mode, and dot-and-dash line is three first order modes.The present invention can reach micron level for the accuracy of detection of vibration, avoids traditional measurement method for oscillating lower sensor maybe can only carry out spot measurement situation on the impact of measurement result.
Be more than preferred embodiment of the present invention, all changes done according to technical solution of the present invention, when the function produced does not exceed the scope of technical solution of the present invention, all belong to protection scope of the present invention.
Claims (8)
1., based on a high-speed multi-dimension degree vibration measurement device for striped target, it is characterized in that, comprising:
Striped target, is arranged at vibrational structure to be measured surface, for the locus of described vibrational structure to be measured of encoding;
Image-forming module, for carrying out continuous imaging and record to the striped target on described vibrational structure to be measured, and controls the striped target image transmitting collected and processing module to signal;
Signal controls and processing module, for controlling described image-forming module and display module, also carry out image procossing for carrying out data communication with described image-forming module and transmitting to it striped target image come, processing result image can carry out showing or do further data processing and analysis operation in display module;
Display module, for showing the processing result image that described signal controls and processing module is sent.
2. a kind of high-speed multi-dimension degree vibration measurement device based on striped target according to claim 1, it is characterized in that, described striped target is striped target lightweight paster, the front of described striped target lightweight paster is black and white strip image, the back side is viscous layer, and sticks in described vibrational structure surface to be measured.
3. a kind of high-speed multi-dimension degree vibration measurement device based on striped target according to claim 2, it is characterized in that, described striped target designs as follows:
Be less than the vibrational structure to be measured of the first setting value with measurement range for measuring to count, striped target adopts fringe density to be less than the single frequency sinusoidal striped of the second setting value;
The vibrational structure to be measured of the first setting value is not less than with measurement range for measuring to count, striped target adopts fringe density to be greater than the single frequency sinusoidal striped of the 3rd setting value, and on the basis of adopted single frequency sinusoidal striped, superposition and single frequency sinusoidal signal frequency differ by more than the low frequency signal of the 4th setting value, the low frequency signal of diverse location superposition is different, locates the striped target of vibrational structure diverse location to be measured with this.
4. a kind of high-speed multi-dimension degree vibration measurement device based on striped target according to claim 2, it is characterized in that, one of shape of described striped target is strip; For rotating object, striped target is designed to the strip striped target that fringe period becomes sinusoidal variations or cycle to fix, described strip striped scoring ring equal with rotating object surface perimeter for length is affixed on rotating object circumferential surface, to measure the vibration of described rotating object.
5. a kind of high-speed multi-dimension degree vibration measurement device based on striped target according to claim 1, is characterized in that, described image-forming module is primarily of face battle array imaging sensor and optical imaging lens composition.
6. a kind of high-speed multi-dimension degree vibration measurement device based on striped target according to claim 5, it is characterized in that, described image-forming module is the adjustable high-speed camera of acquisition frame rate, the dead ahead, vibrational structure surface to be measured of striped target is covered with, to enable striped target blur-free imaging on the battle array imaging sensor of face described in described high-speed camera is arranged at.
7., based on a high-speed multi-dimension degree vibration measurement method for striped target, it is characterized in that, comprise the following steps:
A. on vibrational structure to be measured, arrange striped target, and set image-forming module;
B. along with the vibration of vibrational structure to be measured, the striped target pasting its surface also vibrates thereupon, adopts image-forming module to carry out continuous imaging and record to striped target;
C. the striped target image transmitting collected controls and processing module to signal, to carry out image procossing by image-forming module;
D. signal control and processing module are carried out Fourier transform to the striped of same position on striped target same in every two field picture and adopt certain crest frequency bearing calibration to carry out accurate correction to crest frequency;
E. signal control and processing module obtain by the crest frequency of imaging mathematical relation and correction the time-domain curve being covered with the place's structural vibration of striped target, namely restore the vibration signal of vibrational structure to be measured;
F. show processing result image by display module or pass through calculated time domain vibration signal and do further data processing and analysis.
8. a kind of high-speed multi-dimension degree vibration measurement method based on striped target according to claim 7, it is characterized in that, described crest frequency bearing calibration is the bearing calibration of discrete spectrum time shift phase difference, and its relationship is:
Δφ = φ – φ
0 = -2πa
1T(ω - Δω)
Wherein, Δ φ is two sections of continuous stripe signals through translation and the phase differential that obtains after adding different window function, φ and φ
0be the phase place of two segment signals, T is the length of added symmetry-windows, continuous signal translation a
1t obtains another signal, wherein a
1>0; ω is the crest frequency correcting front signal discrete spectrum, and Δ ω is correction quantity of frequency, is obtained by above-mentioned formula:
Δω = ( 2πa
1Tω - Δφ)∕2πa
1T
The actual displacement computing formula of vibrational structure to be measured is:
ΔZ(n, t) = Z
1(n)[ ω
2(n, t)∕ω
1(n) – 1]
Wherein, n is the sequence number of striped target, and Δ Z (n, t) is the relative displacement calculated, Z
1n () is the initial distance between the n-th striped target and camera lens, ω
1n () is that the n-th striped target is positioned at Z
1original frequency after (n) place streak correction, ω
2(n, t) is the frequency of the n-th striped target when displacement is Δ Z after streak correction; By calculating the relative frequency change of every frame bar line on vibrational structure to be measured, then calculate through displacement the time-domain curve that formulae discovery acquisition is covered with the place's structural vibration of striped target.
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| CN201510074835.6A CN104614064B (en) | 2015-02-13 | 2015-02-13 | A kind of high-speed multi-dimension degree vibration measurement device and method based on striped target |
| PCT/CN2015/076169 WO2016127486A1 (en) | 2015-02-13 | 2015-04-09 | High-speed multi-dimensional vibration measurement apparatus and method based on stripe target |
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| CN201510074835.6A CN104614064B (en) | 2015-02-13 | 2015-02-13 | A kind of high-speed multi-dimension degree vibration measurement device and method based on striped target |
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| CN113447670A (en) * | 2021-06-25 | 2021-09-28 | 福州大学 | Rotation speed measuring method and system for monocular linear array visual tracking stripe coding mark |
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