CN104729665B - A kind of flexible cantilever panel vibration detection device and method based on binocular vision - Google Patents
A kind of flexible cantilever panel vibration detection device and method based on binocular vision Download PDFInfo
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Abstract
The invention discloses a kind of flexible cantilever panel vibration detection device and method based on binocular vision,Including a left side,Right CCD camera,Flexible cantilever plate,One end is fixing end,One end is free end,First,Second resistance strain-ga(u)ge transducer is pasted onto flexible cantilever plate,It is decorated with matts in the front of the flexible cantilever plate,Described first,The flexural vibrations of second resistance strain-ga(u)ge transducer detection flexible cantilever plate and torsion information,After charge amplifier amplifies,Digital signal is converted analog signals into by A/D transition cards,Computer is input to again,The left side,The vibration information of the right two CCD camera detection flexible cantilever plate front matts for being configured with camera lens,It is transferred to computer,Utilize double CCD camera sensors,According to principle of parallax,The three-dimensional coordinate solution of matts Intersection Point on cantilever slab can be come out,So as to obtain the vibration information of this point.Therefore, the information of bending and the twisting vibration of cantilever slab can be obtained.
Description
Technical field
The present invention relates to the detection field of large-scale cantilever design, more particularly to a kind of flexible cantilever plate based on binocular vision
Vibration detection device and method.
Background technology
Flexibility, maximization are an important development trend of all kinds of space structures, and lightweight construction can increase effective load
The weight of lotus, improves the efficiency of delivery vehicle；Large scale structure can increase space function and Spacecraft guidance and control, manufacture it is flexible
Property.However, since large-size pliable structure rigidity is low, flexible big, when being run in the space of no extrernal resistance, external drive is highly prone to
Act on and produce long-term low frequency Large Amplitude Vibration, the vibration of flexible cantilever plate includes low frequency bending and torsion mode
The vibration of coupling.Need to measure low-frequency vibration, analyze vibration characteristics, the vibration of flexible structure is controlled, to ensure flexibility
Structure and the thereon normal work of various precision instruments.
In existing technology, using flexible cantilever harden structure simulated space windsurf board, the bending of research structure and torsion mode
Vibration measurement and active control, are mainly sensed using piezoelectric patches, acceleration transducer, marmem, angular rate gyroscope
The senser elements such as device, photoelectrical position sensor and fiber-optic grating sensor, by distributing sensor rationally, realize bending and reverse
The measurement of mode and active control.But piezoelectric and marmem are due to self-strength, fatigue life and temperature tolerance
Can etc. factor, using being subject to certain restrictions；There is noise-sensitive in acceierometer sensor and angular rate gyroscope sensor
The problems such as sluggish and temperature drift, influences its precision, and can only measure the displacement of certain point on object, to obtain full detail, it is necessary to
Several accelerometers or angular rate gyroscope are respectively arranged on a cantilever beam；The measurement range of photoelectrical position sensor is smaller, knot
Structure is complicated, operation difficulty is big, calculating process is cumbersome and costly；The most important problem of fiber-optic grating sensor is transducing signal
Demodulation, since fiber grating is more fragile, is very easy to destroy in harsh environments, thus needs to be packaged it
After could use, packaging technology and safeguard measure are complicated.
In large-size pliable structure vibration measurement and the research of active control, there is that its is only using binocular vision non-cpntact measurement
Special advantage, and can also quick obtaining measurement data.Binocular vision does not change and shakes in the case where not contacting testee surface
The characteristics such as the frequency of animal body, amplitude, are compared, binocular vision can calculate the three-dimensional coordinate of spatial point, can with monocular vision
To obtain the parameter information of the structural vibration of object multiple spot, and the advantages that be not limited solely to the vibration information of a bit.
The content of the invention
In order to overcome shortcoming and deficiency existing in the prior art, present invention offer one kind is simple in structure, performance is stable, efficient
Accurately flexible cantilever panel vibration detection device and method based on binocular vision, are realized to flexible cantilever plate multiple spot vibration displacement
Non-contact, real-time and accurate measurement.
The present invention adopts the following technical scheme that：
A kind of flexible cantilever panel vibration detection device based on binocular vision, including flexible cantilever plate, the flexible cantilever
Plate one end is fixed by machinery mount clamping device, is known as fixing end, the other end is free end, and resistance strain gage sensor includes
Two, it is respectively first, second resistance strain gage sensor, is pasted onto on flexible cantilever plate, the front of the flexible cantilever plate
Matts is decorated with, further includes left and right two CCD cameras for being configured with camera lens, described two CCD cameras are installed on flexible cantilever plate
Front front, and distance of camera lens flexible cantilever plate front is 450mm~650mm, and two CCD cameras are in the same horizontal position
On, and in detection process matts in the visual field of two CCD cameras；
The flexural vibrations of the first, second resistance strain gage sensor detection flexible cantilever plate and torsion information, pass through
After charge amplifier amplification, digital signal is converted analog signals into by A/D transition cards, then be input to computer；
The vibration information of the described left and right two CCD camera detection flexible cantilever plate front matts for being configured with camera lens, passes
It is defeated to arrive computer.
The horizontal distance of left and right two CCD cameras for being configured with camera lens is 200mm, and distance of camera lens flexible cantilever
Plate front is 450mm-650mm.
The first resistor strain-ga(u)ge transducer includes two resistance strain gages, is pasted onto close to flexible cantilever plate fixing end
Longitudinal midline at, attitude angle is 0 °, and two sides is symmetrically pasted, a piece of and be connected in parallel per face；
The second resistance strain-ga(u)ge transducer includes four resistance strain gages, is pasted onto apart from flexible cantilever plate fixing end
At 100-300mm, attitude angle is 0 °, and two sides is symmetrically pasted, and per face two panels and is connected in parallel.
Longitudinal pitch in the matts between lines is 150mm, horizontal spacing 125mm.
Further include LED light source.
The matts has obvious characteristic, and the obvious characteristic specifically refers to have coloured difference with flexible cantilever plate
Property, the intersection point of the matts is symmetrical on flexible cantilever plate longitudinal midline.
A kind of detection method of vibration detection device, includes the following steps：
The first step demarcates the CCD camera system of two configuration camera lenses, and the calibration includes establishing coordinate system, coordinate
Conversion between system, then demarcates single camera, completes the matching of left images plane respective point；
Two CCD cameras of second step obtain the bending of flexible cantilever plate and the image sequence of twisting vibration information, pass through USB
Image sequence is transferred to computer by interface；
According to the first two field picture of two cameras, each intersection point in matts is determined using principle of parallax respectively for 3rd step
Initial three-dimensional coordinate, then according to the maximum change model of each cross-point locations of image acquisition matts of two cameras in follow-up left and right
Enclose, determine the image ROI of the subregion of each intersection point；
4th step is utilized using the feature of intersection point in the sub-district area image ROI of each intersection point of OTSU thresholding methods extraction
Principle of parallax determines the three-dimensional coordinate of each intersection point；
The three-dimensional coordinate that the initial three-dimensional coordinate and the 4th step that 5th step is obtained according to the 3rd step obtain calculates each friendship
The displacement in all directions is put, all directions include x-axis, y-axis, z-axis, obtain the bending and torsion of flexible cantilever plate multiple spot
Vibration information.
5th step is specially：
When flexible cantilever plate is static, according to principle of parallax, the three-dimensional coordinate of matts any one lines crosspoint is set
For x0, y0, z0；
When flexible cantilever plate starts vibration, if the three-dimensional coordinate of corresponding point is (x1(t), y1(t), z1(t))；
It is △ x (t)=x then to obtain displacement of the matts any point in x-axis direction1-x0, the displacement in y-axis direction is △ y
(t)=y1-y0, the displacement in the z-axis direction of the front surface of vertical flexible cantilever plate is △ z (t)=z1-z0；
The displacement in the intersection point z-axis direction on flexible cantilever plate longitudinal centre line is denoted as △ z0(t), then longitudinal centre line is obtained
Flexural vibrations displacement signal be zw(t)=△ z0(t), will be symmetrical on flexible cantilever plate longitudinal centre line and corresponding two
The displacement of a intersection point Z-direction is denoted as △ z respectively1(t)、△z2(t)；
Then obtain the flexural vibrations displacement signal in any crosspoint of mattsTwisting vibration position
Shifting signalWherein △ z0(t)、△z1(t)、△z2(t) it is displacement signal, t is the time.
Beneficial effects of the present invention：
(1) utilize Machine Vision Detection flexible structure multiple spot dynamic displacement, have it is non-contact, measurement range is wide, does not change
The advantages that becoming the vibration characteristics of measured object.Measuring method in the present invention need not be installed on flexible board any additional device or
Equipment, does not change the physical attribute of flexible structure, improves measurement accuracy；
(2) machine vision may participate in measurement in the environment of light appropriateness.LED light source lighting is used in the present invention, and
Can be by artificial means come the power of light regulating, so as to build suitable measuring environment, better than being required using pasting
Higher brittleness piezoceramic material；
(3) binocular vision detection method is used in the present invention, is compared with monocular vision detection method, binocular vision can be counted
The three-dimensional coordinate of object in space is calculated, reduces the state of object, shaking for characteristic point on the face of flexible cantilever plate can be extracted
Dynamic information；
(4) abundant information in image, and the advantage with global information.Using different image processing methods, except
Flexural vibrations displacement, the information of twisting vibration displacement of flexible board can be obtained, other specification information can also be obtained, there is it
The incomparable advantage of his sensor；
(5) mechanical device structure that the present invention designs is simple, detection is simple, convenient implements and has a wide range of application, and
And two video cameras can flexibly up and down, move left and right.
Brief description of the drawings
Fig. 1 is the general structure schematic diagram of the present invention；
Fig. 2 is cantilever slab front resistance strain gage sensor and matts configuration distribution schematic diagram in Fig. 1；
Fig. 3 is the front view of the overall construction drawing of Fig. 1, and the horizontal installation position of CCD camera and height are pacified as seen from the figure
Holding position；
Fig. 4 is cantilever slab and double camera (CCD camera) placement location right side view in Fig. 1；
Fig. 5 is the top view of the overall construction drawing of Fig. 1, as seen from the figure point of two CCD cameras in left and right and LED light source
Cloth；
Fig. 6 is that binocular vision (two CCD cameras) is illustrated according to the principle of principle of parallax measurement space point three-dimensional coordinate
Figure.
Shown in figure：1-base, 2-fixed link base, 3-machinery mount clamping device, 4-first resistor foil gauge
Sensor, 5-second resistance strain-ga(u)ge transducer, 6-matts, 7-flexible cantilever plate, 8-camera lens, 9-CCD camera,
10-LED light source, 11-camera support bar, 12-camera support base.
Embodiment
With reference to embodiment and attached drawing, the present invention is described in further detail, but embodiments of the present invention are not
It is limited to this.
Embodiment
As Figure 1-Figure 5, a kind of flexible cantilever panel vibration detection device based on binocular vision, including flexible cantilever plate
7, described 7 one end of flexible cantilever plate is fixed by machinery mount clamping device, is known as fixing end, and the other end is free end, resistance
Strain-ga(u)ge transducer includes two, is respectively first, second resistance strain gage sensor 4,5, is pasted onto on flexible cantilever plate 7,
The machinery mount clamping device 3 is fixed on fixed link base 2, and the fixed link base 2 is fixed on base 1；
The first resistor strain-ga(u)ge transducer 4 includes two resistance strain gages, is pasted onto and is fixed close to flexible cantilever plate
At the longitudinal midline at end, and it is 0 ° apart from fixing end 50mm, attitude angle, two sides is symmetrically pasted, and every face is a piece of and is connected in parallel；
The second resistance strain-ga(u)ge transducer 5 includes four resistance strain gages, is pasted onto and is fixed apart from flexible cantilever plate
Hold at 100-300mm, the present embodiment is 0 ° apart from fixing end 200mm, attitude angle, and two sides is symmetrically pasted, per face two panels and parallel connection
Connection.
The front of the flexible cantilever plate is decorated with the horizontal stroke of matts 6 or 44 with obvious characteristic and is erected, and intersection point is on longitudinal direction
Center line is symmetrical, and the obvious characteristic refers to that the color of matts 6 and the color of flexible cantilever plate in itself form distinctness
Contrast, therefore say the otherness that there is matts obvious characteristic to refer to color.
The longitudinal pitch of 4 perpendicular middle lines of the matts or 4 horizontal stroke is 150mm, horizontal spacing 125mm.
Left and right two CCD cameras 9 for being configured with camera lens 8 are further included, described two CCD cameras are installed on flexible cantilever plate
Front front, and distance of camera lens flexible cantilever plate front is 450mm~650mm, and described two CCD cameras pass through camera support
Bar 11 is fixed on camera support base 12, and two CCD cameras are in the same horizontal position, and horizontal distance is 200mm, and
Matts 6 is remained in detection process in the visual field of two CCD cameras, further includes LED light source 10, the LED light source is
The detection of binocular vision provides light source.
The first, second resistance strain gage sensor 4,5 detects the flexural vibrations of flexible cantilever plate and reverses information, warp
After crossing charge amplifier amplification, digital signal is converted analog signals into by A/D transition cards, then be input to computer；
Described left and right two CCD cameras 9 for being configured with camera lens detect the vibration information of flexible cantilever plate front matts,
It is transferred to computer.
The CCD camera of left and right two detects the vibration information of multiple intersection points on the matts of flexible board front, passes through USB interface
To computer, the image photographed on computers to two CCD cameras is handled image transmitting, extracts intersection point on matts
Feature, then can be obtained by through certain algorithm the vibration information of intersection point, so as to reflect the bending of flexible panel structure low frequency and
The information of twisting vibration.
A kind of flexible cantilever panel vibration detection method based on binocular vision, includes the following steps
The first step demarcates the CCD camera system of two configuration camera lenses, and the calibration includes establishing coordinate system, coordinate
Conversion between system, then demarcates single camera, completes the matching of left images plane respective point, is specially：
Establish coordinate system：With the midpoint O of the front surface of flexible cantilever plate (7) fixed edgewFor coordinate origin, world's seat is established
Mark system OW-XWYWZW；With the optical center O of left CCD cameracFor origin, camera coordinates system O is establishedc-XcYcZc；With the image upper left corner first
A pixel is origin O0, establish computer coordinate system O0-UV；With the central point O of image1For origin, plane of delineation coordinate system is established
O1-XY。
The conversion of the world coordinate system and camera coordinate system of any point (such as P points) in space, can use spin matrix R
Described with translation vector t:
Wherein, (xc, yc, zc)、(xw, yw, zw) it is respectively coordinate of the P points in camera coordinates system and world coordinate system.R is
Orthogonal matrices, t is vectorial for D translation, 0=[0 0 0]T。
Under camera coordinate system, since there are the reason of camera lens projection imaging, there is following become in it to image coordinate system
Change:
Wherein, (x, y) be image in P points coordinate, (xc, yc, zc) it is coordinate of this in camera coordinates system, f is phase
The lens focus of machine.Formula (2) is expressed as with matrix form：
(1) formula, which is substituted into (3) formula, to be obtained：
The origin O of plane of delineation coordinate system (computer coordinate system)0Positioned at the upper left corner of ccd image plane, U axis and V axis
Respectively along the width and short transverse of image, coordinate points (u, v) represent u row, the pixel of v rows, UO in image0V be with
Pixel is the coordinate system of unit.The intersection point of camera optical axis and image is O1(u0, v0), the point be image center, using the point as
Origin, X-axis and Y-axis along the width and short transverse of image, establish coordinate system XO respectively1Y, the coordinate system is in units of millimeter.
Physical size of each pixel in X-axis, Y direction is dx, dy respectively, then on image any one pixel in two coordinates
There is following relation under system：
It is expressed as with matrix form：
(4) formula substitution (6) formula is obtained：
In formula,u0, v0Four parameters are only related with camera internal structure, are known as camera internal parameter；And matrix R
It is related with the position of camera and posture with vectorial t, and it is unrelated with camera structure, it is known as camera external parameter.Determine that camera is inside and outside
The process of portion's parameter, is exactly camera calibration.
In the present invention, since position and the posture of camera are fixed, therefore image coordinate system, camera coordinates system and world coordinate system
Fixed, the origin of coordinate system is on optical axis, is only that position is different, and be vertically intersected on figure with image coordinate system
The center of picture, each coordinate system remaining two reference axis difference are parallel and in the same direction.Therefore camera coordinates system and the world are sat between coordinate system
Only exist translation and close the, rotation relationship may be not present, then：
In experimentation, the positional information of the characteristic point by extracting black and white chessboard scaling board image, it may be determined that calculate
Correspondence in machine vision between image plane coordinate points and space coordinates coordinate points, may thereby determine thatu0, v0
With vectorial five parameters of t.
Left and right camera has all been demarcated, then searches out respective point of the object on the CCD camera image plane image of left and right, complete
Into the matching of two CCD image planes points.
The flexible board low-frequency vibration detection apparatus and method based on double camera, it is characterised in that the three-dimensional of object
Coordinate determines that specific method is as shown in Figure 6：Two CCD camera image planes are in the same plane, and camera optical axis is put down
OK, horizontal distance b.Q is more spatially, its coordinate is Q (x, y, z).Two CCD cameras are in synchronization shooting space
Same target Q, obtains the image for including target Q, the target is in two images in left CCD image planes and right CCD image planes respectively
On coordinate be respectively Q1=(X1, Y1), Q2=(X2, Y2).Since two CCD camera image planes are in the same plane, and image
Machine optical axis is parallel, therefore has Y1=Y2=Y.Known by figure intermediate cam geometrical relationship：
Because image " parallax " Parallax=X1-X2, thus can calculate three-dimensionals of the target point Q under camera coordinates system
Coordinate is：
Therefore, as long as two CCD cameras can collect complete target image at the same time, and by suitably matching calculation
Method establishes the correspondence of target in two images, the deviation Parallax of target in two images is calculated, multiplied by with CCD
Pixel dimension pixel, obtains actual parallax, and the three-dimensional coordinate of target Q can be accurately calculated according to formula (10).
The flexible board low-frequency vibration detection apparatus and method based on double camera, it is characterised in that the bending of flexible board
With the acquisition of twisting vibration information, specific method is：When flexible cantilever plate is static, according to principle of parallax, at lines crosspoint
Three-dimensional coordinate calculate, be set to (x0, y0, z0).When flexible cantilever plate starts vibration, if the three-dimensional coordinate of corresponding point is (x1
(t), y1(t), z1(t)).The displacement that x-axis direction can then be obtained is △ x (t)=x1-x0, the displacement in y-axis direction is △ y (t)
=y1-y0, the displacement in the z-axis direction of the front surface of vertical flexible cantilever plate is △ z (t)=z1-z0.In flexible cantilever plate longitudinal direction
The displacement in the intersection point z-axis direction on heart line is denoted as △ z0(t), i.e. three point of intersection in matts centre are in the longitudinal direction of flexible cantilever plate
On center line, then the flexural vibrations displacement signal that can obtain longitudinal centre line is zw(t)=△ z0(t).Will be on flexible cantilever
Plate longitudinal centre line is symmetrical and the displacement in corresponding two intersection point z-axis direction is denoted as △ z respectively1(t)、△z2(t), then
Can be bent vibration displacement signal is：Twisting vibration displacement signal is：Wherein △ z0(t)、△z1(t)、△z2(t) it is displacement signal, t is the time.
Dotted line connection in Fig. 1 represents electric signal with detecting the connection figure of drive dynamic control device.
As shown in Figure 2, the first resistor strain-ga(u)ge transducer 4 is pasted onto flexible board close to fixing end longitudinal midline
Place, and symmetrically pasted apart from fixing end 50mm, two sides, per 1, face and it is connected in parallel；Second resistance strain-ga(u)ge transducer 5 is pasted
At flexible board is from fixing end 200mm, and from flexible board longitudinal midline 125mm at, two sides is symmetrically pasted, per 2, face and parallel connection
Connection；The longitudinal pitch being decorated with the front of flexible cantilever plate between the matts of obvious characteristic and lines is 150mm, between transverse direction
Away from for 125mm.
As shown in Figure 4, the right side view of cantilever slab and double camera (CCD camera) placement location.
In the present embodiment, the material selection epoxide resin material thin plate of flexible board, the optional 1000mm of its physical dimension ×
500mm × 2mm, i.e., cross-directional length is 1000mm shown in Fig. 2, and vertical direction length is 500mm, thickness 2mm.Asphalt mixtures modified by epoxy resin
The elasticity modulus of fat is Epe=34.64GPa, density are ρ=1840kg/m3。
Resistance strain gage sensor and resistance strain gage sensor select the high-precision level of confidentiality series of BHF foil in this example
BX120-2AA types sensor-use hinders foil gauge, and sensitive grid size is long 2mm inside foil gauge, wide 1mm, sensitivity coefficient
0.5%.
The ccd sensor of left and right two is made of CCD camera, camera lens.Select the CCD camera of Ying Meijing companies, its model
The Imaging Source DMK 23U445, the image size of collection is 1280*960 pixels, and frame per second is 30 frames/second.Select
The camera lens of company of Ricoh, its model FL-HC0614-2M, focal length 6mm, size is Φ 32mm × 35.7mm.The calculating of selection
The CPU models Pentium G6202.6GHz of machine, memory 4G, have PCI slot in mainboard, can be with installation data acquisition control
Card.The model PCL-818HD type multichannels A/D that the production of Taiwan Advantech company can be selected in A/D change data capture cards turns
Data collecting card is changed, the conversion accuracy of A/D converters is 12, and input voltage range is set as ± 10V.
Above-described embodiment is the preferable embodiment of the present invention, but embodiments of the present invention and from the embodiment
Limitation, other any Spirit Essences without departing from the present invention with made under principle change, modification, replacement, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (6)
1. a kind of detection method of the flexible cantilever panel vibration detection device based on binocular vision, flexible cantilever panel vibration detection
Device includes flexible cantilever plate, and described flexible cantilever plate one end is fixed by machinery mount clamping device, is known as fixing end, another
Hold includes two for free end, resistance strain gage sensor, is respectively first, second resistance strain gage sensor, is pasted onto soft
On property cantilever slab, matts is decorated with the front of the flexible cantilever plate, further includes left and right two CCD cameras for being configured with camera lens,
Described two CCD cameras be installed on flexible cantilever plate front front, and distance of camera lens flexible cantilever plate front for 450mm~
650mm, two CCD cameras are in the same horizontal position, and in detection process matts in the visual field of two CCD cameras；
The flexural vibrations of the first, second resistance strain gage sensor detection flexible cantilever plate and torsion information, by electric charge
After amplifier amplification, digital signal is converted analog signals into by A/D transition cards, then be input to computer；
The vibration information of the described left and right two CCD camera detection flexible cantilever plate front matts for being configured with camera lens, is transferred to
Computer；
It is characterised in that it includes following steps：
The first step, demarcates the CCD camera of two configuration camera lenses, and the calibration includes establishing coordinate system, between coordinate system
Conversion, then single camera is demarcated, complete left images plane respective point matching；
Second step, two CCD cameras obtain the bending of flexible cantilever plate and the image sequence of twisting vibration information, are connect by USB
Image sequence is transferred to computer by mouth；
3rd step, respectively according to the first two field picture of two cameras, using principle of parallax determine each intersection point in matts just
The each intersection position maximum changing range of image acquisition matts of beginning three-dimensional coordinate, then two cameras in the follow-up left and right of basis,
Determine the image ROI of the subregion of each intersection point；
4th step, the feature of intersection point in the sub-district area image ROI of each intersection point is extracted using OTSU thresholding methods, utilizes parallax
Principle determines the three-dimensional coordinate of each intersection point；
5th step, the three-dimensional coordinate that the initial three-dimensional coordinate and the 4th step obtained according to the 3rd step obtains calculate each intersection point and exist
The displacement of all directions, all directions include x-axis, and y-axis, z-axis, obtains the bending and twisting vibration of flexible cantilever plate multiple spot
Information；
5th step is specially：
When flexible cantilever plate is static, according to principle of parallax, the three-dimensional coordinate of matts any one Intersection Point is set to x0, y0,
z0；
When flexible cantilever plate starts vibration, if the three-dimensional coordinate of corresponding point is (x1(t), y1(t), z1(t))；
It is Δ x (t)=x then to obtain displacement of any intersection point described in matts in x-axis direction1(t)-x0, the displacement in y-axis direction is
Δ y (t)=y1(t)-y0, the displacement in the z-axis direction of the front surface of vertical flexible cantilever plate is Δ z (t)=z1(t)-z0；
The displacement in the intersection point z-axis direction on flexible cantilever plate longitudinal centre line is denoted as Δ z0(t), then the curved of longitudinal centre line is obtained
Bent vibration displacement signal is zw(t)=Δ z0(t), will it is symmetrical on flexible cantilever plate longitudinal centre line and it is corresponding two friendship
The displacement of point Z-direction is denoted as Δ z respectively1(t)、Δz2(t)；
Then obtain the flexural vibrations displacement signal of any intersection point of mattsTwisting vibration displacement signalWherein Δ z0(t)、Δz1(t)、Δz2(t) it is displacement signal, t is the time.
2. detection method according to claim 1, it is characterised in that left and right two CCD cameras for being configured with camera lens
Horizontal distance be 200mm, and distance of camera lens flexible cantilever plate front is 450mm-650mm.
3. detection method according to claim 1, it is characterised in that the first resistor strain-ga(u)ge transducer includes two
Resistance strain gage, is pasted onto at the longitudinal midline of flexible cantilever plate fixing end, and attitude angle is 0 °, and two sides is symmetrically pasted, often
Face is a piece of and is connected in parallel；
The second resistance strain-ga(u)ge transducer includes four resistance strain gages, is pasted onto apart from flexible cantilever plate fixing end 100-
At 300mm, attitude angle is 0 °, and two sides is symmetrically pasted, and per face two panels and is connected in parallel.
4. detection method according to claim 1, it is characterised in that the longitudinal pitch in the matts between lines is
150mm, horizontal spacing 125mm.
5. detection method according to claim 1, it is characterised in that further include LED light source.
6. detection method according to claim 1, it is characterised in that the matts has obvious characteristic, described obvious
Feature specifically refers to have coloured otherness with flexible cantilever plate, and the intersection point of the matts is in flexible cantilever plate longitudinal direction
Line is symmetrical.
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