CN105783734B - Offset, torsion measurement method and the device of gas chamber piston and T baffle - Google Patents
Offset, torsion measurement method and the device of gas chamber piston and T baffle Download PDFInfo
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- CN105783734B CN105783734B CN201610303250.1A CN201610303250A CN105783734B CN 105783734 B CN105783734 B CN 105783734B CN 201610303250 A CN201610303250 A CN 201610303250A CN 105783734 B CN105783734 B CN 105783734B
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- camera
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- baffle
- offset
- torsion
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/03—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring coordinates of points
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
Abstract
The present invention provides a kind of offsets of gas chamber piston, torsion measurement method, comprising: first motion vector of every camera is calculated according to the image change of the first marker of the camera shooting being arranged at the top of piston holder；Calculate the second displacement vector of every camera as caused by the tilting of the piston；According to the difference of first motion vector and the second displacement vector, the third motion vector of every camera as caused by the piston excursion, torsion is calculated；According to the third motion vector, the level, vertical direction offset and torsion angle of the piston is calculated.The present invention provides the method and apparatus of a kind of accurate on-line measurement gas chamber piston and the offset of T baffle, torsion, maintenance personnel can remotely control the operation conditions of gas chamber piston and T baffle in real time.Reduce manually into cabinet pendulous frequency, improves the maintenance efficiency of gas chamber, improve the safety of upkeep operation.
Description
Technical field
The present invention relates to gas chamber condition monitoring technical field, a kind of gas chamber piston and T baffle are particularly related to
Offset, torsion On-line Measuring Method and device.
Background technique
Gas chamber is a kind of device that can be recycled and utilize and store coal gas as secondary energy sources.Gas chamber is mainly by wrapping
The fixed shell in outside for including the components such as side plate, bottom plate, top plate composition, the inside constituted including piston, T baffle are movable
Rubber membrane composition between component and connecting lateral plate and T baffle, T baffle and piston baffle.It is living when gas chamber carries out gas storage
It rises beyond the Great Wall, piston declines when exhaust.When piston is in lower position, piston holder and T baffle are disengaged, and piston holder is with piston one
It rises and moves up and down, rubber membrane when piston declines between T baffle and piston baffle will fold, T baffle and piston when piston rises
Rubber membrane between baffle will stretch.When piston rises to certain altitude, rubber membrane will be opened up completely between T baffle and piston baffle
It opens, piston holder is contacted with T baffle.Herein more than height, T baffle and piston holder will move up and down with piston, piston
When rising, the rubber membrane between side plate and T baffle will stretch；When piston declines, the rubber membrane between side plate and T baffle will be rolled over
It is folded.
When piston up-down, there is no any rigid connection between piston and gas chamber cabinet body, relies primarily on coal in cabinet
Atmospheric pressure is supported.Due to may be there is a phenomenon where entire piston area unbalance stress in piston up-down, piston be simultaneously
It will not remain horizontality, the situations such as inclination, offset, torsion may be generated.But inclination, offset, torsion of piston etc.
When situation reaches a certain level, coal gas over-voltage in gas chamber may be caused.It is also possible to cause the tearing of rubber membrane when serious, into
And lead to gas leak, it results in significant economic losses and security risk.Therefore, the offset, torsion of piston and T baffle are online surveys
Amount technology is to guarantee the key technology of gas chamber safe operation.
Summary of the invention
In view of this, the technical problem to be solved in the present invention is to provide the offsets of a kind of gas chamber piston and T baffle, torsion
On-line Measuring Method and device can accurately measure offset, the torsion value of gas chamber piston and T baffle, and simply easily realize,
Low in cost, suitable large area commercial introduction.
To achieve the goals above, it is proposed that following solution:
On the one hand, offset, the torsion measurement method of a kind of gas chamber piston are provided, comprising:
Every camera is calculated according to the image change of the first marker of the camera shooting being arranged at the top of piston holder
First motion vector Vh；
Calculate the second displacement vector Vh " of every camera as caused by the tilting of the piston；
According to the difference of the first motion vector Vh and the second displacement vector Vh ", it is calculated inclined by the piston
The third motion vector Vh' of every camera caused by moving, reversing；
According to the third motion vector Vh', horizontal direction offset xQ, the vertical direction that the piston is calculated are inclined
Shifting amount yQ and torsion angle α.
Preferably, the number of the camera is 2, first label according to the camera being arranged at the top of piston holder shooting
The image change of object calculates in the first motion vector Vh of every camera,
The first motion vector Vh is by formula Vh=[Xp, Yp]TIt acquires,
Wherein, p point is the installation site of a camera；Xp is camera lens direction displacement, and Xp is by formulaIt acquires；Yp is camera lens tangential direction displacement, and Yp is by formula
It acquires；
Wherein, A, B, C are projection of first marker in horizontal profile；A, b, c are respectively the picture of A, B, C；A ',
B ', c ' are respectively the picture of A, B, C after movement；AB is the marked fringes width of first marker；According to chessboard calibration side
Method acquires F=f/ δ, and f is the focal length of the camera, and δ is the resolution ratio in the camera imaging face.
Preferably, in calculating second displacement vector Vh " of every camera as caused by the tilting of the piston,
The second displacement vector Vh " is by formulaIt acquires,
Wherein, γ is x-axis angle with horizontal plane after the tilting of the piston；β is y-axis and horizontal plane after the tilting of the piston
Angle；B (H, the θ) tilting of the piston is one 2 × 2 matrix to the transition matrix of camera displacement；θ is the camera lens
Direction and x-axis angle；H be the camera installation site to the piston flat surface height.
Preferably, described according to the third motion vector Vh', the horizontal direction offset of the piston is calculated
In xQ, vertical direction offset yQ and torsion angle α,
Horizontal direction offset xQ, the vertical direction offset yQ of the piston and the optimal solution of torsion angle α are by formulaIt acquires,
Wherein, A (θ, R) is the piston excursion, the transition matrix for being torqued into camera displacement, is one 2 × 3 matrix；θ
For the camera lens direction and x-axis angle, R is the installation site of the camera to the distance of the piston centre.
In addition, the present invention also provides a kind of offsets of gas chamber T baffle, torsion measurement method, comprising:
The first of every camera is calculated according to the image change of the second marker of the camera shooting being arranged at the top of T baffle
Motion vector Vt；
Calculate the second displacement vector Vt " of every camera caused by being tilted by the T baffle；
According to the difference of the first motion vector Vt and the second displacement vector Vt ", it is calculated inclined by the T baffle
The third motion vector Vt' of every camera caused by moving, reversing；
According to the third motion vector Vt', horizontal direction offset xQ, the vertical direction of the T baffle is calculated
Offset yQ and torsion angle α.
Preferably, the number of the camera is 2, second marker according to the camera shooting being arranged at the top of T baffle
Image change calculate in the first motion vector Vt of every camera,
The first motion vector Vt is by formula Vt=[Xp, Yp]TIt acquires,
Wherein, p point is the installation site of a camera；Xp is camera lens direction displacement, and Xp is by formulaIt acquires；Yp is camera lens tangential direction displacement, and Yp is by formulaIt acquires；
Wherein, A, B, C are projection of first marker in horizontal profile；A, b, c are respectively the picture of A, B, C；A ',
B ', c ' are respectively the picture of A, B, C after movement；AB is the marked fringes width of second marker；According to chessboard calibration side
Method acquires F=f/ δ, and f is the focal length of the camera, and δ is the resolution ratio in the camera imaging face.
It is preferably, described to calculate in the second displacement vector Vt " for tilting caused every camera by the T baffle,
The second displacement vector Vt " is by formulaIt acquires,
Wherein, γ is x-axis angle with horizontal plane after T baffle inclination；β is y-axis and horizontal plane after T baffle inclination
Angle；B (H, θ) the T baffle tilts to the transition matrix of camera displacement, is one 2 × 2 matrix；θ is the camera mirror
Head direction and x-axis angle；H be the camera installation site to the T baffle plane height.
Preferably, described according to the third motion vector Vt', the horizontal direction offset of the T baffle is calculated
In xQ, vertical direction offset yQ and torsion angle α,
Horizontal direction offset xQ, the vertical direction offset yQ of the T baffle and the optimal solution of torsion angle α are by formulaIt acquires,
Wherein, A (θ, R) is T baffle offset, the transition matrix for being torqued into camera displacement, is one 2 × 3 matrix；
θ is the camera lens direction and x-axis angle, and R is the installation site of the camera to the distance of the T baffle center.
Additionally provide offset, the torsion measuring device of a kind of gas chamber piston, comprising: the first marker, multiple cameras, letter
Number transmission link and computing module；First marker, is arranged in the front of every the multiple camera；It is the multiple
Camera is arranged at the top of the piston holder, to capture the image change of first marker, and by result described in
Transmission link is sent to the computing module；The computing module receives above- mentioned information, according to the image of first marker
Change second displacement vector caused by the first obtained motion vector and the tilting of the piston, is calculated inclined by the piston
The third motion vector of every camera caused by moving, reversing；Wherein, the third motion vector include: the piston level,
Vertical direction offset and torsion angle.
Additionally provide a kind of gas chamber T baffle offset, torsion measuring device, comprising: the second marker, multiple cameras,
Signal transmission link and computing module；Second marker, is arranged in the front of every the multiple camera；It is described more
A camera is arranged at the top of the T baffle, passes through the biography to capture the image change of second marker, and by result
Transmission link is sent to the computing module；The computing module receives above- mentioned information, is become according to the image of second marker
Change the first obtained motion vector and the T baffle tilts caused second displacement vector, is calculated inclined by the T baffle
The third motion vector of every camera caused by moving, reversing；Wherein, the third motion vector includes: the water of the T baffle
Flat, vertical direction offset and torsion angle.
The embodiment of the present invention has the advantages that
In above scheme, the present invention provides the sides of a kind of accurate on-line measurement gas chamber piston and the offset of T baffle, torsion
Method and device, maintenance personnel can remotely control the operation conditions of gas chamber piston and T baffle in real time.Reduce and is manually surveyed into cabinet
Number is measured, the maintenance efficiency of gas chamber is improved, improves the safety of upkeep operation.Gas chamber piston can accurately be measured
Offset, torsion value with T baffle, and simply easily realize, is low in cost, being suitble to large area commercial introduction.
Detailed description of the invention
Fig. 1 is a kind of offset of gas chamber piston provided in an embodiment of the present invention, the step flow chart for reversing measurement method；
Fig. 2 is a kind of offset of gas chamber T baffle provided in an embodiment of the present invention, the step process for reversing measurement method
Figure；
Fig. 3 is a kind of schematic diagram of marker and camera installation site relationship provided in an embodiment of the present invention；
Fig. 4 is the schematic diagram of a kind of piston excursion provided in an embodiment of the present invention, torsion and camera position variation relation；
Fig. 5 is a kind of pattern schematic diagram of marker provided in an embodiment of the present invention；
Fig. 6 is the schematic illustration that camera position provided in an embodiment of the present invention changes calculation method；
Fig. 7 is a kind of offset of gas chamber piston provided in an embodiment of the present invention, the structural schematic diagram for reversing measuring device；
Fig. 8 is a kind of offset of gas chamber T baffle provided in an embodiment of the present invention, the structural representation for reversing measuring device
Figure；
The system that Fig. 9 is the offset of a kind of gas chamber piston and T baffle provided in an embodiment of the present invention, reverses measuring device
Structural schematic diagram.
Specific embodiment
To keep the embodiment of the present invention technical problems to be solved, technical solution and advantage clearer, below in conjunction with
Drawings and the specific embodiments are described in detail.
The embodiment of the present invention is for gas chamber piston in the prior art and T baffle condition monitoring inaccuracy or needs
The problem of manual measurement etc. provides offset, torsion measurement method and the device of a kind of gas chamber piston and T baffle.In gas chamber
When piston is in initial position in operational process, label object image taken by the camera on lower piston is recorded, if piston
It does not twist and deviates, then the position of the camera in the horizontal plane will not change, and being seen in vertical direction due to marker is
It is identical, so the image and the image of initial position of camera shooting are not different, if piston have occurred offset, torsion or
Person's inclination, then the camera can also change in the position of vertical direction, the image of shooting will be different from initial position image.It is logical
Position of the camera relative to initial position can be calculated by crossing the image for comparing camera shooting and the variation of initial position image
It moves, the displacement for therefrom subtracting the camera caused by tilting of the piston just obtains only because of piston excursion and the position of the camera caused by reversing
It moves.
Therefore the displacement of two (in the embodiment of the present invention by taking two cameras as an example) cameras can solve on comprehensive piston
Offset and torsion value of the piston relative to T baffle out.Similarly, when T baffle is in initial position, the camera on T baffle is recorded
Taken label object image, if T baffle is not twisted and deviated, the position of the camera vertical direction will not change
Become, see it is identical in vertical direction due to marker, so the image of camera shooting and the image of initial position do not have
Difference, if offset, torsion or inclination has occurred in T baffle, which can also change in the position of vertical direction, shooting
Image will be different from initial position image.By comparing the image of camera shooting and the variation energy of initial position image
Displacement of the camera relative to initial position is calculated, the displacement for therefrom subtracting the camera caused by T baffle tilts just obtains only
The displacement of the camera caused by deviating and reverse because of T baffle.The displacement of two cameras can solve T baffle on comprehensive T baffle
Offset and torsion value relative to cabinet shell.
As shown in Figure 1, the step of for a kind of offset of gas chamber piston provided in an embodiment of the present invention, torsion measurement method
Flow chart.The offset of gas chamber piston provided in an embodiment of the present invention, torsion measurement method the following steps are included:
S101: every phase is calculated according to the image change of the first marker of the camera shooting being arranged at the top of piston holder
First motion vector of machine；
S102: the second displacement vector of every camera as caused by the tilting of the piston is calculated；
S103: it according to the difference of first motion vector and the second displacement vector, is calculated inclined by the piston
The third motion vector of every camera caused by moving, reversing；
S104: according to the third motion vector, the level, vertical direction offset and torsion of the piston is calculated
Corner.
Preferably, the camera number that top land is arranged in is 2, also, camera uses 1080P high-definition anti-explosion network
Video camera, and the first marker G2 is arranged immediately ahead of every camera.Preferably, first label in the present embodiment
Object G2 uses vertical black and white strip pattern, is illustrated in figure 5 a kind of pattern signal of marker provided in an embodiment of the present invention
Figure, naturally it is also possible to take other kind of official documents and correspondence style, the embodiment of the present invention is with no restrictions.Similarly, in the next implementation of the present invention
Example provide gas chamber T baffle offset, torsion measurement method in, at the top of T baffle be arranged 2 cameras, every camera just before
Side is again provided with the second marker G1.Specifically, the second marker G1 is elongated to extreme higher position from T baffle operation extreme lower position
Setting, the first marker G2 run extreme lower position to the elongated setting of T cradle top from piston.Guarantee piston and T baffle liter in this way
Marker can be taken by dropping to any position camera.
Specifically, above-mentioned steps S101, that is, first marker according to the camera being arranged at the top of piston holder shooting
Image change calculates in the first motion vector Vh of every camera,
The first motion vector Vh is by formula Vh=[Xp, Yp]TIt acquires,
Wherein, p point is the installation site of a camera；Xp is camera lens direction displacement, and Xp is by formulaIt acquires；Yp is camera lens tangential direction displacement, and Yp is by formula
It acquires；
Wherein, A, B, C are projection of first marker in horizontal profile；A, b, c are respectively the picture of A, B, C；A ',
B ', c ' are respectively the picture of A, B, C after movement；AB is the marked fringes width of first marker；According to chessboard calibration side
Method acquires F=f/ δ, and f is the focal length of the camera, and δ is the resolution ratio in the camera imaging face.
It specifically, is the second displacement for calculating every camera as caused by the tilting of the piston in above-mentioned steps 102
In vector Vh ",
The second displacement vector Vh " is by formulaIt acquires,
Wherein, γ is x-axis angle with horizontal plane after the tilting of the piston；β is y-axis and horizontal plane after the tilting of the piston
Angle；B (H, the θ) tilting of the piston is one 2 × 2 matrix to the transition matrix of camera displacement；θ is the camera lens
Direction and x-axis angle；H be the camera installation site to the piston flat surface height.
Specifically, above-mentioned steps 104 are described according to the third motion vector Vh', and the water of the piston is calculated
Square into offset xQ, vertical direction offset yQ and torsion angle α,
Horizontal direction offset xQ, the vertical direction offset yQ of the piston and the optimal solution of torsion angle α are by formulaIt acquires,
Wherein, A (θ, R) is the piston excursion, the transition matrix for being torqued into camera displacement, is one 2 × 3 matrix；θ
For the camera lens direction and x-axis angle, R is the installation site of the camera to the distance of the piston centre.
Specifically, the embodiment of the present invention is described for measuring the offset of gas chamber piston, torsion.Carry out
Coordinate system oxyz is established by origin of piston centre when specific measurement, it is fixed that the direction x can be accustomed to according to piston structure and operator
Justice is such as directed toward some colonnade line, and the direction y is vertical with the direction x, and the direction z is the direction of piston oscilaltion campaign.As shown in figure 3,
For a kind of schematic diagram of marker and camera installation site relationship provided in an embodiment of the present invention.Specifically, on piston holder top
Two cameras are arranged in portion, and the right opposite of every camera is both provided with corresponding first marker G2, and record lower piston is initial herein
The coordinate value of the black and white strip line of demarcation of camera shot mark object in the picture when position.If piston in up and down motion process,
Always it moves, and does not twist along z-axis, then the x of camera, y-coordinate value will not change, captured label object image
It will not change, if being deviated and being reversed during piston up-down, the movement of piston can be equivalent in x
Direction deviates xQ, and the direction y deviates yQ, moves up and down again along Z axis after the Z axis torsion α after translation, the x of such camera, y-coordinate
Value will change, then the coordinate of the black and white strip line of demarcation of the marker shot in the picture will change.According to coordinate
Variation can calculate any one camera in its lens direction and camera lens tangential direction offset, can also be popular be interpreted as
The offset Yp and Xp of camera front-rear direction and transverse moving left and right direction.
Specifically, the image-forming principle of camera is indicated by using perspective model is simplified, as shown in figure 4, real for the present invention
A kind of piston excursion of example offer, the schematic diagram of torsion and camera position variation relation are provided.As in Fig. 4 I be viewpoint (it is understood that
For lens centre), H is camera imaging plane, and Io is camera lens optical axis direction perpendicular to plane H, Io, and vertical direction is mirror
Head tangential direction, the length of Io are focal length, and A, B, C are that marker black and white is demarcated in the projection of horizontal profile, with viewpoint I line
Hand over imaging plane H in a, b, c, therefore a, b, c are the picture of A, B, C.Because the first marker G2 be it is fixed, i.e. A, B,
C is static, and known to the distance of AC, BC, AB.Camera can be translated all around, and camera as shown in Fig. 4 is (initial from point I
Location point) it is moved to point I ', Yp is moved in the direction of its optical axis, has moved up Xp in optical axis Vertical Square, therefore camera
First motion vector is Vh=[Xp, Yp]T。
Since camera is mounted parallel to label object plane, so as plane is parallel to AB, then according to the similar pass of triangle
System can obtain:
Wherein, AB is the first marker G2 marked fringes width (mm)；Ab and a'b' is respectively before camera is mobile and mobile
Width (mm) of the AB in the picture ab and a ' b ' as plane afterwards；Io=I'o'=f is camera focus (mm)；IO and I'O' is respectively to move
Distance (mm) of the image center to the first marker G2 after dynamic preceding and mobile.It therefore can be according to the pixel distance of the ab on image
The actual range of ab and a'b' are calculated with the resolution ratio δ (mm/ pixel) in camera imaging face, if the length picture of ab and a'b'
Element then has as unit expression:
Further, the value that F=f/ δ can be calculated using camera checkerboard calibration method can be asked directly by formula (2)
IO and IO' are solved, and then calculates and acquires the displacement of camera lens tangential direction:
Likewise, can be obtained according to triangle similarity relation:
And then it calculates and acquires the displacement of camera lens direction:
Preferably, as shown in fig. 6, changing the principle signal of calculation method for camera position provided in an embodiment of the present invention
Figure.If piston deviates xQ in the direction x, the direction y deviates yQ, and after the Z axis torsion α after translation, camera is moved to a little from point P
P ' is acquired by derivation because of third motion vector Vh '=[Xp ', Yp '] T caused by piston excursion reverses are as follows:
Wherein, A (θ, R) is referred to as the transition matrix that the camera piston excursion is torqued into camera displacement, it is one 2 × 3
Matrix, θ is camera lens direction and x-axis angle, and R indicates camera installation site to the distance of piston centre, two points in Vh'
The direction definition of amount it is identical as Vh.Since camera is mounted at the top of piston holder, tilting of the piston can also cause the traversing of camera,
It is therefore necessary to consider camera displacement caused by tilting of the piston.If after tilting of the piston x-axis angle with horizontal plane be γ, y-axis with
The angle of horizontal plane is β, by deriving second displacement vector Vh " caused by available tilting of the piston are as follows:
Wherein B (H, θ) is referred to as the camera tilting of the piston to the transition matrix of camera displacement, it is one 2 × 2 square
Battle array, θ are camera lens direction and x-axis angle, and H indicates camera installation site to the height of piston flat surface.
Specifically, the actual displacement of camera i.e. the first motion vector Vh is because of the third that offset, the torsion of piston generate
Motion vector Vh' is generated i.e. with because the second displacement vector Vh " that the inclination of piston generates is superimposed
Vh=Vh'+Vh " (8)
Vh'=Vh-Vh " is calculated, formula (6) is next extended to the matrix form of two cameras are as follows:
Wherein, the transfer matrix for defining piston excursion, being torqued into two camera displacementsA is 4 × 3 squares
Battle array, then can calculate the horizontal direction offset xQ of the piston, the optimal solution of vertical direction offset yQ and torsion angle α
Are as follows:
Similarly, the principle of offset and the torsion of T baffle and the principle and method of method and measurement piston excursion torsion are measured
It is similar.As shown in Fig. 2, being flowed for the step of a kind of offset of gas chamber T baffle provided in an embodiment of the present invention, torsion measurement method
Cheng Tu.The offset of gas chamber T baffle provided in an embodiment of the present invention, measurement method of walking around include: S201: at the top of T baffle
The image change of second marker of the camera shooting of setting calculates the first motion vector Vt of every camera；S202: it calculates
The second displacement vector Vt " of every camera caused by being tilted by the T baffle；S203: according to the first motion vector Vt with
The third displacement of every camera caused by T baffle offset, torsion is calculated in the difference of the second displacement vector Vt "
Vector Vt'；S204: according to the third motion vector Vt', the horizontal direction offset xQ, vertical of the T baffle is calculated
Direction offset yQ and torsion angle α.
First according on T baffle camera shoot the second marker G1 image change calculate the first of every camera be displaced to
Vt is measured, then calculates camera because of the third displacement Vt " caused by the inclination of T baffle, camera is then calculated and is reversed because T baffle deviates
Caused second displacement amount Vt'=Vt-Vt " is counted finally using the displacement of two cameras on T baffle referring to formula (9) (10)
Offset xQ, yQ and torsion angle for calculating T baffle, herein without repeating.
Preferably, as shown in fig. 7, for a kind of offset of gas chamber piston provided in an embodiment of the present invention, torsion measurement dress
The structural schematic diagram set.A kind of offset of gas chamber piston provided in an embodiment of the present invention, torsion measuring device, comprising: first
Marker 701, multiple cameras 702, signal transmission link 703 and computing module 704；First marker 701, setting exist
The front of every the multiple camera 702；The multiple camera 702 is arranged at the top of the piston holder, to capture
The image change of the first marker 701 is stated, and result is sent to the computing module 704 by the transmission link 703；Institute
State computing module 704 receive above- mentioned information, according to the first motion vector that the image change of first marker 701 obtains with
And second displacement vector caused by the tilting of the piston, every camera is calculated as caused by the piston excursion, torsion
Third motion vector；Wherein, the third motion vector includes: the level of the piston, vertical direction offset and torsion
Angle.
Preferably, the embodiment of the present invention is illustrated by taking 2 cameras as an example, and the embodiment of the present invention is with analytical calculation machine
It is illustrated, but is not limited thereto as computing module 704.The transmission link 703 includes: Ethernet switch, cable
Cable, optical fiber；Camera is connected with Ethernet switch by network cable；Analytical calculation machine and Ethernet switch pass through cable
Cable is connected；It is connected between Ethernet switch by optical fiber.
Preferably, as shown in figure 8, for a kind of offset of gas chamber T baffle provided in an embodiment of the present invention, torsion measurement dress
The structural schematic diagram set.A kind of offset of gas chamber T baffle provided in an embodiment of the present invention, torsion measuring device, comprising: second
Marker 801, multiple cameras 702, signal transmission link 703 and computing module 704；Second marker 801, setting exist
The front of every the multiple camera 702；The multiple camera 702 is arranged at the top of the T baffle, to capture described the
The image change of two markers 801, and result is sent to the computing module 704 by the transmission link 703；The meter
It calculates module 704 and receives above- mentioned information, the first motion vector obtained according to the image change of second marker 801 and institute
Second displacement vector caused by T baffle tilts is stated, the of every camera is calculated caused by T baffle offset, torsion
Triple motion vector；Wherein, the third motion vector includes: the level, vertical direction offset and torsion of the T baffle
Angle.Preferably, the offset, torsion of the gas chamber piston in the transmission mode and above-described embodiment in the device of that embodiment of the invention are surveyed
It is similar to measure device, therefore is no longer repeated.
As shown in figure 9, for a kind of offset, the torsion measurement dress of gas chamber piston and T baffle provided in an embodiment of the present invention
The system structure diagram set.System provided in an embodiment of the present invention is by being mounted on coal gas cabinet side panel and T baffle and propping up below
Two cameras at the top of multiple groups marker and corresponding piston holder on frame, two cameras at the top of T baffle, are placed on
The composition such as analytical calculation machine and optical fiber switch, image server in signal transmission link for remotely operating room.Specifically, it passes
Transmission link includes the components such as Ethernet switch, network cable, optical fiber.Connected between camera and Ethernet switch by cable
It connects, is connected between analytical calculation machine and interchanger by cable, connected between two interchangers by optical fiber, form camera-friendship
It changes planes the information transfer channel of-interchanger-analytical calculation machine.The label object image of camera shooting is transmitted to by the information channel
Analytical calculation machine.Ad hoc sofeware program on analytical calculation machine according to the method described in the present invention carries out the image of camera shooting
Processing, obtains the offset and torsion value of piston and T baffle.
In conclusion the method and dress of accurate on-line measurement gas chamber piston provided by the invention and the offset of T baffle, torsion
It sets, maintenance personnel can remotely control the operation conditions of gas chamber piston and T baffle in real time.Reduce manually into cabinet measurement time
Number, improves the maintenance efficiency of gas chamber, improves the safety of upkeep operation.Gas chamber piston and T can accurately be measured
The offset of baffle, torsion value, and simply easily realize, is low in cost, being suitble to large area commercial introduction.
This many functional component described in this description is all referred to as module, specifically to emphasize its realization side
The independence of formula.
In the embodiment of the present invention, module can use software realization, to be executed by various types of processors.Citing comes
It says, the executable code module of a mark may include the one or more physics or logical block of computer instruction, citing
For, object, process or function can be built as.Nevertheless, the executable code of institute's mark module is without physically
It is located together, but may include the different instructions being stored in Bu Tong physically, be combined together when in these command logics
When, it constitutes module and realizes the regulation purpose of the module.
In fact, executable code module can be the either many item instructions of individual instructions, and can even be distributed
It on multiple and different code segments, is distributed in distinct program, and is distributed across multiple memory devices.Similarly, it grasps
Making data can be identified in module, and can realize according to any form appropriate and be organized in any appropriate class
In the data structure of type.The operation data can be used as individual data collection and be collected, or can be distributed on different location
(including in different storage device), and at least partly can only be present in system or network as electronic signal.
When module can use software realization, it is contemplated that the level of existing hardware technique, it is possible to implemented in software
Module, without considering the cost, those skilled in the art can build corresponding hardware circuit to realize correspondence
Function, the hardware circuit includes conventional ultra-large integrated (VLSI) circuit or gate array and such as logic core
The existing semiconductor of piece, transistor etc either other discrete elements.Module can also use programmable hardware device, such as
Field programmable gate array, programmable logic array, programmable logic device etc. are realized.
In each method embodiment of the present invention, the serial number of each step can not be used to limit the successive suitable of each step
Sequence, for those of ordinary skill in the art, without creative efforts, the successive variation to each step
Within protection scope of the present invention.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, it can also make several improvements and retouch, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (6)
1. a kind of offset of gas chamber piston, torsion measurement method characterized by comprising
The first of every camera is calculated according to the image change of the first marker of the camera shooting being arranged at the top of piston holder
Motion vector Vh；
Calculate the second displacement vector Vh " of every camera as caused by the tilting of the piston；
According to the difference of the first motion vector Vh and the second displacement vector Vh ", it is calculated by the piston excursion, torsion
The third motion vector Vh' of every camera caused by turning；
According to the third motion vector Vh', horizontal direction offset xQ, the vertical direction offset of the piston is calculated
YQ and torsion angle α；
The number of the camera is 2, and the image of first marker according to the camera being arranged at the top of piston holder shooting becomes
Change in the first motion vector Vh for calculating every camera,
The first motion vector Vh is by formula Vh=[Xp, Yp]TIt acquires,
Wherein, p point is the installation site of a camera；Xp is camera lens direction displacement, and Xp is by formulaIt acquires；Yp is camera lens tangential direction displacement, and Yp is by formula
It acquires；
Wherein, A, B, C are projection of first marker in horizontal profile；A, b, c are respectively the picture of A, B, C；A ', b ', c '
The picture of A, B, C after respectively moving；AB is the marked fringes width of first marker；It is acquired according to checkerboard calibration method
F=f/ δ, f are the focal length of the camera, and δ is the resolution ratio in the camera imaging face；O, O point are respectively I point to plane H and mark
Remember that the subpoint of object plane, o ', O ' point are respectively subpoint of the I ' point to plane H and label object plane.
2. the offset of gas chamber piston according to claim 1, torsion measurement method, which is characterized in that it is described calculate by
In the second displacement vector Vh " of every camera caused by the tilting of the piston,
The second displacement vector Vh " is by formulaIt acquires,
Wherein, γ is x-axis angle with horizontal plane after the tilting of the piston；β is the folder of y-axis and horizontal plane after the tilting of the piston
Angle；B (H, the θ) tilting of the piston is one 2 × 2 matrix to the transition matrix of camera displacement；θ is the camera lens side
To with x-axis angle；H be the camera installation site to the piston flat surface height.
3. the offset of gas chamber piston according to claim 2, torsion measurement method, which is characterized in that described according to institute
Third motion vector Vh' is stated, horizontal direction offset xQ, vertical direction offset yQ and the torsion of the piston is calculated
In the α of angle,
Horizontal direction offset xQ, the vertical direction offset yQ of the piston and the optimal solution of torsion angle α are by formulaIt acquires,
Wherein, A (θ, R) is the piston excursion, the transition matrix for being torqued into camera displacement, is one 2 × 3 matrix；θ is institute
State camera lens direction and x-axis angle, R is the installation site of the camera to the distance of the piston centre；Vh1'、Vh2'、
Vt1'、Vt2' it is respectively as follows: the shift value of piston of First camera measurement, the shift value of the piston of second camera measurement, first
The shift value of platform camera measurement T baffle and the shift value of second camera measurement T baffle.
4. a kind of offset of gas chamber T baffle, torsion measurement method characterized by comprising
First displacement of every camera is calculated according to the image change of the second marker of the camera shooting being arranged at the top of T baffle
Vector Vt；
Calculate the second displacement vector Vt " of every camera caused by being tilted by the T baffle；
According to the difference of the first motion vector Vt and the second displacement vector Vt ", be calculated by the T baffle offset,
The third motion vector Vt' of every camera caused by reversing；
According to the third motion vector Vt', horizontal direction offset xQ, the vertical direction offset of the T baffle is calculated
Measure yQ and torsion angle α；
The number of the camera is 2, the image change meter of second marker according to the camera shooting being arranged at the top of T baffle
It calculates in the first motion vector Vt of every camera,
The first motion vector Vt is by formula Vt=[Xp, Yp]TIt acquires,
Wherein, p point is the installation site of a camera；Xp is camera lens direction displacement, and Xp is by formulaIt acquires；Yp is camera lens tangential direction displacement, and Yp is by formulaIt acquires；
Wherein, A, B, C are projection of second marker in horizontal profile；A, b, c are respectively the picture of A, B, C；A ', b ', c '
The picture of A, B, C after respectively moving；AB is the marked fringes width of second marker；It is acquired according to checkerboard calibration method
F=f/ δ, f are the focal length of the camera, and δ is the resolution ratio in the camera imaging face；O, O point are respectively I point to plane H and mark
Remember that the subpoint of object plane, o ', O ' point are respectively subpoint of the I ' point to plane H and label object plane.
5. the offset of gas chamber T baffle according to claim 4, torsion measurement method, which is characterized in that it is described calculate by
In the second displacement vector Vt " of every camera caused by the T baffle tilts,
The second displacement vector Vt " is by formulaIt acquires,
Wherein, γ is x-axis angle with horizontal plane after T baffle inclination；β is the folder of y-axis and horizontal plane after T baffle inclination
Angle；B (H, θ) the T baffle tilts to the transition matrix of camera displacement, is one 2 × 2 matrix；θ is the camera lens side
To with x-axis angle；H be the camera installation site to the T baffle plane height.
6. the offset of gas chamber T baffle according to claim 5, torsion measurement method, which is characterized in that described according to institute
Third motion vector Vt' is stated, horizontal direction offset xQ, vertical direction offset yQ and the torsion of the T baffle is calculated
In corner α,
Horizontal direction offset xQ, the vertical direction offset yQ of the T baffle and the optimal solution of torsion angle α are by formulaIt acquires,
Wherein, A (θ, R) is T baffle offset, the transition matrix for being torqued into camera displacement, is one 2 × 3 matrix；θ is
The camera lens direction and x-axis angle, R are the installation site of the camera to the distance of the T baffle center；Vh1'、
Vh2'、Vt1'、Vt2' it is respectively as follows: the displacement of the shift value of piston of First camera measurement, the piston of second camera measurement
The shift value of value, the shift value of First camera measurement T baffle and second camera measurement T baffle.
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| CN110823152A (en) * | 2019-11-14 | 2020-02-21 | 武汉顶力康自动化有限公司 | Automatic monitoring device and method for piston drift of gas chamber |
| CN112414324B (en) * | 2020-12-22 | 2022-10-14 | 南昌航空大学 | Helicopter rotor blade torsion angle measurement method based on binocular stereo vision |
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| CN101251402A (en) * | 2008-04-08 | 2008-08-27 | 中冶京诚工程技术有限公司 | System and method for processing gas-holder location data |
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