CN104764520A - Low-frame-rate camera large-visual-field vibration measurement device - Google Patents
Low-frame-rate camera large-visual-field vibration measurement device Download PDFInfo
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Abstract
The invention discloses a low-frame-rate camera large-visual-field vibration measurement device. The low-frame-rate camera large-visual-field vibration measurement device comprises a reflecting film, a camera positioning and adjusting portion, a square wave generating portion, a shooting controlling portion, a picture storing portion and a vibration information calculating portion, wherein the surface of an object to be measured is coated with the reflecting film in a pasted mode, a plurality of mark points distributed in a grid shape and provided with a predetermined number of rows are arranged on the reflecting film, the camera positioning and adjusting portion performs position on two low-frame-rate cameras and adjusts the low-frame-rate cameras to the same row of the mark points of picture capturing areas, a corresponding shooting picture is obtained by each low-frame-rate camera through shooting, the square wave generating portion is used for generating square waves, the shooting controlling portion controls the two low-frame-rate cameras to perform shooting on each row of the mark points row by row based on square waves with a predetermined length according to the predetermined sequence and controls the two low-frame-rate cameras to perform the shooting on each rising edge or falling edge of the square waves simultaneously, the vibration information calculating portion calculates out spatial position coordinates of the row of the mark points based on the two shooting pictures shot simultaneously, part of vibration information of each row of the mark points is further calculated out, and therefore the vibration information of the object to be measured is calculated out.
Description
Technical field
The present invention relates to a kind of low frame per second camera Large visual angle vibration measurement device can measuring the vibration information of the large-sized object of high-frequency vibration.
Background technology
Vibration is present in production, the every field of life, and the measurement for vibration has great demand.The measurement of vibration comprises contact and contactless two kinds, contactless measurement, and can not affect original state of vibration, be the developing direction of vibration survey.
Existing contactless measurement, as laser doppler vibrometer device, mostly is the measurement of spot measurement or small field of view, is applicable to the occasion that measured object is less; When these methods measure the vibration of large-sized measured object, need the scanning mechanism by complexity, cost is very expensive.
The binocular machine vision vibration measurement instrument utilizing double camera to form can provide the multiple spot within the scope of Large visual angle to vibrate and measure simultaneously, and the measurement for the vibration of large-scale measured object has clear superiority; But the frame per second of camera determines the bandwidth of measured vibration, and the frequency of measuring vibrations is higher, requires higher to the frame per second of camera, therefore, for the measurement of the vibration of the object under test of large-scale high-frequency vibration, cost can sharply rise.
Summary of the invention
The present invention carries out to solve the problem, and object is to provide a kind of cost low and can measures the low frame per second camera Large visual angle vibration measurement device of the vibration information of the large-sized object of high-frequency vibration.
The invention provides a kind of low frame per second camera Large visual angle vibration measurement device, the vibration information of two low frame per second cameras to the object under test that Large visual angle vibrates is utilized to measure, there is such feature, comprise: reflective membrane, match with the size of object under test, be covered on the surface of object under test, be provided with and distribute as net shape and there are a plurality of monumented points of predetermined number of lines; Camera location adjusting portion, positions two low frame per second cameras, and regulates low frame per second camera to make the image acquisition region of two low frame per second cameras be all the monumented point of same a line, and each low frame per second camera is taken image accordingly by shooting; Square wave generating unit, for generating square wave; Shooting control part, be connected with each low frame per second camera, control two low frame per second cameras according to predefined procedure to take every line flag point line by line based on the square wave of predetermined length, and take at each rising edge of square wave or negative edge while of controlling two low frame per second cameras; Image storage part, carries out corresponding stored to the shooting image of every line flag point; And vibration information calculating part, take the locus coordinate that two the shooting images obtained calculate this line flag point corresponding based on two low frame per second cameras simultaneously, calculate the partial vibration information of every line flag point further, thus calculate the vibration information of object under test.
In low frame per second camera Large visual angle vibration measurement device provided by the invention, such feature can also be had: wherein, vibration information calculating part comprises: camera position Relation acquisition unit, by demarcating each low frame per second camera thus obtaining the position relationship matrix between the inner parameter matrix of each low frame per second camera and two low frame per second cameras; Planimetric position coordinate acquiring unit, takes for obtaining every line flag point two two the planimetric position coordinates taken in images obtained at the same time; Locus coordinate calculating unit, goes out the current locus coordinate of this line flag point according to the inner parameter matrix of two planimetric position coordinates, two low frame per second cameras and position relationship matrix computations; Partial vibration information calculating unit, all locus coordinates based on every line flag point calculate the partial vibration information of this line flag point; And vibration information computing unit, the partial vibration information based on predetermined number of lines calculates the vibration information of object under test.
In low frame per second camera Large visual angle vibration measurement device provided by the invention, such feature can also be had: also comprise: light source supply department, for providing illumination to reflective membrane.
In low frame per second camera Large visual angle vibration measurement device provided by the invention, can also have such feature: wherein, wherein, square wave generating unit comprises the vibrator for sending trigger pip and generates the square wave maker of square wave based on trigger pip.
In low frame per second camera Large visual angle vibration measurement device provided by the invention, can also have such feature: wherein, vibration information comprises vibration frequency and Oscillation Amplitude.
In low frame per second camera Large visual angle vibration measurement device provided by the invention, can also have such feature: wherein, position relationship matrix comprises rotation matrix and translation matrix.
The effect of invention
According to low frame per second camera Large visual angle vibration measurement device involved in the present invention, because be covered in after on the surface of object under test at the reflective membrane with a plurality of monumented points distributed as net shape, two low frame per second cameras to be positioned and the image acquisition region being adjusted to two low frame per second cameras is all the first row monumented point, the square wave generated based on the square wave generating unit of predetermined length controls two low frame per second cameras and takes at the rising edge of square wave or negative edge simultaneously, take based on the monumented point of the mode identical with the first row monumented point to other row, vibration information calculating part takes according to two low frame per second cameras the locus coordinate that the shooting image obtained calculates this line flag point simultaneously, calculate the partial vibration information of every line flag point further, the vibration information of object under test is calculated based on all partial vibration information, so, low frame per second camera Large visual angle vibration measurement device of the present invention utilizes two low frame per second cameras to achieve the measurement of the vibration information of the large-sized object to high-frequency vibration, and greatly reduce cost.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of low frame per second camera Large visual angle vibration measurement device in embodiments of the invention;
Fig. 2 is the part-structure schematic diagram of low frame per second camera Large visual angle vibration measurement device in embodiments of the invention; And
Fig. 3 is the action flow chart of low frame per second camera Large visual angle vibration measurement device in embodiments of the invention.
Embodiment
The technological means realized to make the present invention, creation characteristic, reach object and effect is easy to understand, following examples are specifically addressed low frame per second camera Large visual angle vibration measurement device of the present invention by reference to the accompanying drawings.
Fig. 1 is the structured flowchart of low frame per second camera Large visual angle vibration measurement device in embodiments of the invention.
As shown in Figure 1, in the present embodiment, low frame per second camera Large visual angle vibration measurement device 100 is measured by the vibration information of the large-scale object under test 300 utilizing two low frame per second cameras, 200 pairs of high-frequency vibrations as shown in Figure 2.Each low frame per second camera 200 is by carrying out taking thus being taken image accordingly.In the present embodiment, vibration information comprises vibration frequency and Oscillation Amplitude.
Low frame per second camera Large visual angle vibration measurement device 100 comprises: reflective membrane 10, light source supply department 20, camera are located adjusting portion 30, square wave generating unit 40, vibration information calculating part 60 and controlled the control part 70 of above-mentioned each portion operation.
Fig. 2 is the part-structure schematic diagram of low frame per second camera Large visual angle vibration measurement device in embodiments of the invention.
As shown in Figure 2, the size of reflective membrane 10 and the size of object under test 300 match, and reflective membrane 10 can be covered on the surface of object under test 300 just.In addition, reflective membrane 10 has light-reflecting property, and its outside surface is provided with ten the monumented point N distributed as net shape, and these ten monumented points are three row distributions.
As shown in Figure 2, light source supply department 20 is two two LED 20 being separately positioned on each low frame per second camera 200 side outwardly, and LED 20 is lit, thus provides illumination to reflective membrane 10, reflective membrane 10 can be carried out reflective.
Camera location adjusting portion 30, for positioning two low frame per second cameras 200, and to regulate each low frame per second camera 200, makes the image acquisition region of two low frame per second cameras 200 be all the monumented point of same a line.
Square wave generating unit 40 comprises: for sending the vibrator of trigger pip and generating the square wave maker of square wave based on trigger pip.
Control part 70 comprises for the computer program controlling light source supply department 20, camera location adjusting portion 30, square wave generating unit 40 and vibration information calculating part 60 run.In addition, control part 70 comprises shooting control part 71.Shooting control part 71 is connected with each low frame per second camera 200, line by line every line flag point is taken based on the square wave of predetermined length for controlling two low frame per second cameras 200 according to predefined procedure, and take at each rising edge of square wave while of controlling two low frame per second cameras 200.In the present embodiment, predefined procedure is that measuring targets 300 is by order from top to bottom.
Image storage part 60 carries out corresponding stored according to current line number and shooting time to shooting image.
Vibration information calculating part 60 comprises: camera position Relation acquisition unit 61, planimetric position coordinate acquiring unit 62, locus coordinate calculating unit 63, partial vibration information calculating unit 64 and vibration information computing unit 65.
Camera position Relation acquisition unit 61 by demarcating each low frame per second camera 200 thus obtaining the inner parameter matrix of each low frame per second camera 200, and obtains the position relationship matrix between two low frame per second cameras 200 further.In the present embodiment, position relationship matrix comprises rotation matrix and translation matrix.
Planimetric position coordinate acquiring unit 62 takes two planimetric position coordinates in obtain two shooting images at the same time for obtaining every line flag point, and namely planimetric position coordinate acquiring unit 62 carries out taking the planimetric position coordinate of the same line flag point in two the shooting images obtained simultaneously for obtaining two low frame per second cameras 200.
Two planimetric position coordinates that locus coordinate calculating unit 63 gets according to planimetric position coordinate acquiring unit 62, the inner parameter matrix of two low frame per second cameras 200 and position relationship matrix computations go out the current locus coordinate of this line flag point.Computing formula is as follows:
If left camera is positioned at world coordinate system initial point place, left camera coordinate system O
l-xyz overlaps with world coordinate system, and left side shooting image coordinate is o
l-X
ly
l, effective focal length is f
l; Right camera coordinate system O
r-x
ry
rz
r, right side shooting image coordinate is o
r-X
ry
r, effective focal length is f
r.Space identification dot center P (x
w, y
w, z
w) be respectively P in the picture point of two low frame per second camera image planes
l(u
l, v
l), P
r(u
r, v
r), meet between them:
Wherein, R
lrand t
lrfor rotation matrix and the translation matrix of left camera and right camera coordinate system.
The three dimensional space coordinate of spatial point P can be determined according to geometric relationship above.
Partial vibration information calculating unit 64 calculates the partial vibration information of this line flag point respectively based on all locus coordinates of same line flag point.
Vibration information computing unit 65 calculates the vibration information of object under test 300 based on three partial vibration information of three row.
Fig. 3 is the action flow chart of low frame per second camera Large visual angle vibration measurement device in embodiments of the invention.
As shown in Figure 3, in the present embodiment, the motion flow of low frame per second camera Large visual angle vibration measurement device 100 comprises the following steps:
Step S1, is covered in reflective membrane 10 on the surface of object under test 300, then enters step S2.
Step S2, camera location adjusting portion 30 positions two low frame per second cameras 200, and two low frame per second cameras 200 are adjusted to its image acquisition region is all the first row monumented point, then enters step S3.
Step S3, vibrator sends trigger pip, and square wave maker generates square wave according to trigger pip, then enters step S4.
Step S4, shooting control part 71 controls two low frame per second cameras 200 according to the square wave of predetermined length and takes at the monumented point of rising edge to current line of square wave simultaneously, thus passes take image accordingly, then enters step S5.
Step S5, image storage part 60 carries out corresponding stored according to current line number and shooting time to shooting image, then enters step S6.
Step S6, judges whether current line is last column, when being judged as YES, enters step S7, when being judged as NO, enters step S8.
Step S7, camera position Relation acquisition unit 61 is by demarcating each low frame per second camera 200 thus obtaining the inner parameter matrix of each low frame per second camera 200, and the position relationship matrix obtained further between two low frame per second cameras 200, then enter step S9.
Step S8, camera location adjusting portion 30 regulates two low frame per second cameras 200 to be all next line monumented point to its image acquisition region, then enters step S3.
Step S9, planimetric position coordinate acquiring unit 62 carries out taking two planimetric position coordinates of the same line flag point in two the shooting images obtained simultaneously for obtaining two low frame per second cameras 200, then enter step S10.
Step S10, two planimetric position coordinates that locus coordinate calculating unit 63 gets according to planimetric position coordinate acquiring unit 62, the inner parameter matrix of two low frame per second cameras 200 and position relationship matrix computations go out the current locus coordinate of this line flag point, then enter step S11.
Step S11, partial vibration information calculating unit 64 calculates the partial vibration information of this line flag point respectively based on all locus coordinates of same line flag point, then enter step S12.
Step S12, vibration information computing unit 65 calculates the vibration information of object under test 300 based on three partial vibration information of three row, then enters done state.
The effect of embodiment and effect
Low frame per second camera Large visual angle vibration measurement device involved by the present embodiment, because be covered in after on the surface of object under test at the reflective membrane with a plurality of monumented points distributed as net shape, two low frame per second cameras to be positioned and the image acquisition region being adjusted to two low frame per second cameras is all the first row monumented point, the square wave generated based on the square wave generating unit of predetermined length controls two low frame per second cameras and takes at the rising edge of square wave or negative edge simultaneously, take based on the monumented point of the mode identical with the first row monumented point to other row, vibration information calculating part takes according to two low frame per second cameras the locus coordinate that the shooting image obtained calculates this line flag point simultaneously, calculate the partial vibration information of every line flag point further, the vibration information of object under test is calculated based on all partial vibration information, so, the low frame per second camera Large visual angle vibration measurement device of the present embodiment utilizes two low frame per second cameras to achieve the measurement of the vibration information of the large-sized object to high-frequency vibration, and greatly reduce cost.
Above-mentioned embodiment is preferred case of the present invention, is not used for limiting the scope of the invention.
In the present embodiment, monumented point is ten and in three row, and in low frame per second camera Large visual angle vibration measurement device provided by the present invention, monumented point can also a plurality of for except ten except, and line number also can be any row except three.
In the present embodiment, light source supply department is two LED, and in low frame per second camera Large visual angle vibration measurement device provided by the present invention, light source supply department can also can provide the parts of light source for other.
In the present embodiment, shooting control part controls two low frame per second cameras and takes at the rising edge of square wave simultaneously, in low frame per second camera Large visual angle vibration measurement device provided by the present invention, shooting control part can also control two low frame per second cameras and carries out taking at the negative edge of square wave simultaneously or all take at the rising edge of square wave and negative edge.
Claims (6)
1. a low frame per second camera Large visual angle vibration measurement device, utilizes the vibration information of two low frame per second cameras to the object under test that Large visual angle vibrates to measure, it is characterized in that, comprising:
Reflective membrane, matches with the size of described object under test, by being covered on the surface of described object under test, being provided with and distributing as net shape and have a plurality of monumented points of predetermined number of lines;
Camera location adjusting portion, two described low frame per second cameras are positioned, and regulating described low frame per second camera to make the image acquisition region of two described low frame per second cameras be all the described monumented point of same a line, each described low frame per second camera is taken image accordingly by shooting;
Square wave generating unit, for generating square wave;
Shooting control part, be connected with each described low frame per second camera, control two described low frame per second cameras according to predefined procedure to take often going described monumented point line by line based on the described square wave of predetermined length, and control described two low frame per second cameras and take at each rising edge of described square wave or negative edge simultaneously;
Image storage part, carries out corresponding stored to often going the shooting image of described monumented point; And
Vibration information calculating part, take the locus coordinate that two the described shooting images obtained calculate monumented point described in this row corresponding based on two described low frame per second cameras simultaneously, calculate the partial vibration information of often capable described monumented point further, thus calculate the described vibration information of described object under test.
2. low frame per second camera Large visual angle vibration measurement device according to claim 1, is characterized in that:
Wherein, described vibration information calculating part comprises:
Camera position Relation acquisition unit, by demarcating each described low frame per second camera thus obtaining the position relationship matrix between the inner parameter matrix of each described low frame per second camera and two described low frame per second cameras;
Planimetric position coordinate acquiring unit, takes two planimetric position coordinates in two the described shooting images obtained at the same time for obtaining often capable described monumented point;
Locus coordinate calculating unit, goes out the current locus coordinate of monumented point described in this row according to the described inner parameter matrix of two described planimetric position coordinates, two described low frame per second cameras and described position relationship matrix computations;
Partial vibration information calculating unit, calculates the described partial vibration information of monumented point described in this row based on often going all described locus coordinates of described monumented point; And
Vibration information computing unit, the described partial vibration information based on described predetermined number of lines calculates the described vibration information of described object under test.
3. low frame per second camera Large visual angle vibration measurement device according to claim 2, is characterized in that, also comprise:
Light source supply department, for providing illumination to described reflective membrane.
4. low frame per second camera Large visual angle vibration measurement device according to claim 3, is characterized in that:
Wherein, described square wave generating unit comprises the vibrator for sending trigger pip and generates the square wave maker of described square wave based on described trigger pip.
5., according to the low frame per second camera Large visual angle vibration measurement device in claim 1-4 described in any one, it is characterized in that:
Wherein, described vibration information comprises vibration frequency and Oscillation Amplitude.
6., according to the low frame per second camera Large visual angle vibration measurement device in claim 1-4 described in any one, it is characterized in that:
Wherein, described position relationship matrix comprises rotation matrix and translation matrix.
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