CN107314882A - The wind vibration response acquisition methods of membrane structure air spring pole based on technique of binocular stereoscopic vision - Google Patents
The wind vibration response acquisition methods of membrane structure air spring pole based on technique of binocular stereoscopic vision Download PDFInfo
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract
The wind vibration response acquisition methods of membrane structure air spring pole based on technique of binocular stereoscopic vision, belong to membrane structure air spring pole wind tunnel test field, solve the existing membrane structure air spring pole based on technique of binocular stereoscopic vision wind vibration response acquisition methods it is computationally intensive the problem of.Methods described includes：N is set on the response surface of membrane structure air spring pole for treating wind tunnel test1The step of individual annular identification point, the step of place left and right camera, the step of demarcate left and right camera inside and outside parameter, while wind tunnel test is carried out to membrane structure air spring pole, the step of response surface photograph is obtained using camera, the step of obtain identification point center pixel coordinate according to response surface photograph, according to the inside and outside parameter of identification point center pixel coordinate and camera, and mathematical modeling based on technique of binocular stereoscopic vision solves the step of obtaining the step of the three-D displacement of identification point is responded and respond the dynamic respond in the face that meets with a response according to the three-D displacement of identification point.
Description
Technical field
The present invention relates to a kind of wind vibration response acquisition methods of membrane structure air spring pole, belong to membrane structure air spring pole wind-tunnel
Experiment field.
Background technology
, it is necessary to be measured to the wind vibration response of membrane structure air spring pole in the wind tunnel test of membrane structure air spring pole.
The wind vibration response measuring method of existing membrane structure air spring pole is divided into contact measurement method and contactless measurement.
Contact measurement method is typically employed in the side that acceleration transducer is set on the response surface of membrane structure air spring pole
Formula measures the displacement of response surface.But, even if ignoring the small weight of acceleration transducer, during measurement, still
Need that acceleration transducer is connected with charge amplifier by wire.Therefore, the accuracy of the measurement result of this method is poor.
Contactless measurement generally measures the displacement of response surface using laser displacement gauge.With contact measurement method
Compare, this method is because laser displacement gauge need not directly be contacted with membrane structure air spring pole and have higher accuracy.However, should
Method is also and imperfections.During using this method measurement response surface displacement, in order to avoid laser displacement gauge and its fixation
The interference of frame stream field is for example placed in the cavity of wind-tunnel, it is necessary to the riding position to laser displacement gauge is designed.Except this
Outside, a laser displacement gauge can only measure the displacement time-histories of an identification point, when the identification point being arranged on response surface is more
When, it is necessary to many laser displacement gauges.This development trend complicated with existing membrane structure form is not consistent.Therefore, there is scholar will
Technique of binocular stereoscopic vision is incorporated into the measurement of the wind vibration response of membrane structure air spring pole.However, existing be based on binocular solid
The wind vibration response acquisition methods of the membrane structure air spring pole of vision technique using speckle as identification point, the later stage to photograph at
Reason needs block-by-block to scan for when obtaining three-D displacement, computationally intensive.
The content of the invention
The present invention obtains to solve the wind vibration response of the existing membrane structure air spring pole based on technique of binocular stereoscopic vision
Take method it is computationally intensive the problem of, it is proposed that the wind shake of membrane structure air spring pole based on technique of binocular stereoscopic vision a kind of is rung
Answer acquisition methods.
The wind vibration response acquisition methods bag of membrane structure air spring pole of the present invention based on technique of binocular stereoscopic vision
Include：
Step 1: setting N on the response surface of membrane structure air spring pole for treating wind tunnel test1Individual identification point, identification point is
Annular；
Step 2: placing camera, the camera includes left camera and right camera；
Step 3: the inside and outside parameter of calibration for cameras；
Step 4: while wind tunnel test is carried out to membrane structure air spring pole, response surface photograph is obtained using camera；
Step 5: obtaining the center pixel coordinate of identification point according to response surface photograph；
Step 6: according to the inside and outside parameter of the center pixel coordinate of identification point and camera, and based on binocular stereo vision skill
The mathematical modeling of art solves the three-D displacement response for obtaining identification point；
Step 7: responding the dynamic respond in the face that meets with a response, the dynamic respond of response surface according to the three-D displacement of identification point
For the wind vibration response of membrane structure air spring pole.
As preferably, the particular content of step 4 is：Use left and right camera with predetermined frequency to the sound simultaneously
Answer face to be taken pictures, and obtain N respectively2Open response surface left view photograph and N2Open the response surface right side and regard photograph.
As preferably, the particular content of step 5 is：N is obtained respectively2Open response surface left view photograph and N2Open response surface
The right side regards the N in photograph1The center pixel coordinate of individual identification point, and to N2Open response surface left view photograph and N2Open the response surface right side and regard phase
The center pixel coordinate of same identification point in piece carries out matching correspondence, wherein, obtain the N in a response surface photograph1Individual mark
Knowing the center pixel seat calibration method of point includes：
Step 1, using OTSU algorithms to the response surface photograph carry out image binaryzation processing, obtain N1The mould of individual identification point
Paste pixel；
Step 2, using the sub-pixel edge detection method based on Zernike squares to N1The fuzzy pixel of individual identification point carries out side
Edge is recognized, obtains N1The contour pixel of individual identification point；
Step 3, using eight neighborhood edge following algorithm to N1The contour pixel of individual identification point is tracked, and obtains 2N1Individual side
Edge pixel point set；
Step 4, using least square method two edge pixel point sets for belonging to the contour pixel of an identification point are entered
Row fitting, obtains first oval and the second ellipse；
It is step 5, oval and second oval based on first, and reject the orphan that described two edge pixel points are concentrated using 3 σ methods
Vertical wheel exterior feature pixel；
Whether there is isolated wire-frame image vegetarian refreshments to be removed in step 6, judgment step 5, when judged result is to be, perform step
7, otherwise, sat the intermediate value of the first oval centre coordinate and the second oval centre coordinate as the center pixel of the identification point
Mark；
Step 7, using least square method two new edge pixel point sets for belonging to the contour pixel of the identification point are entered
Row fitting, obtains the 3rd oval and the 4th ellipse, and by the 3rd oval centre coordinate and the 4th oval centre coordinate
It is worth the center pixel coordinate as the identification point；
Step 8, according to the method described in step 4 to step 7, obtain N1The center pixel coordinate of individual identification point.
As preferably, step 5 is using the arrangement matching process based on benchmark photograph to N2Open response surface left view photograph
And N2The center pixel coordinate progress matching for opening same identification point of the response surface right side in photograph is corresponding, wherein, based on benchmark phase
The arrangement matching process of piece includes：
Step A, the N by benchmark photograph1The center pixel coordinate of individual identification point is descending according to abscissa or ordinate
Order be arranged as the first center pixel coordinate to N1Center pixel coordinate, the benchmark photograph is the film knot under inactive state
The response surface left view photograph of structure air spring pole is right regarding photograph；
Step B, the N for judging a response surface photograph successively1The corresponding benchmark of the center pixel coordinate of individual identification point
First center pixel coordinate of photograph is to N1The distance of center pixel coordinate, and according to the corresponding two middle imagos that match each other
The minimum principle of the distance of plain coordinate is by the N of this response surface photograph1The center pixel coordinate of individual identification point and the N of benchmark photograph1
The center pixel coordinate of individual identification point carries out matching correspondence；
Step C, according to the method described in step B, complete N2Open the N of response surface left view photograph1The center pixel of individual identification point
The matching correspondence and N of coordinate2Open the N that the response surface right side regards photograph1The matching correspondence of the center pixel coordinate of individual identification point；
Step D, by way of given adjustment vector, realize N2Open response surface left view photograph and N2Open the response surface right side and regard phase
N in piece1The matching correspondence of the center pixel coordinate of individual identification point.
As preferably, step 6 includes：
Step a, the N for having matched according to each identification point completion2Center pixel coordinate and N in individual left camera viewings2The individual right side
The inside and outside parameter of center pixel coordinate and camera in camera viewings, and the mathematical modeling based on technique of binocular stereoscopic vision asks
Solve N of each identification point under world coordinate system2Individual center pixel three-dimensional coordinate；
Response surface of the XOY plane of the world coordinate system under inactive state；
Step b, the N by each identification point2Individual center pixel three-dimensional coordinate makees poor with reference three-dimensional coordinate, obtains each mark
Know the N of point2The three-D displacement of individual center pixel, and then obtain the three-D displacement time-histories of each identification point.
As preferably, step 7 is based on N1The three-D displacement time-histories of individual identification point, and differential technique is used, meet with a response
The dynamic respond in face.
The wind vibration response acquisition methods of membrane structure air spring pole of the present invention based on technique of binocular stereoscopic vision, are adopted
Annular identification point is used, when carrying out processing acquisition three-D displacement to response surface photograph in the later stage, scans for, only needs without block-by-block
Point search is carried out, amount of calculation is small.
Brief description of the drawings
Hereinafter by based on embodiment and refer to the attached drawing come to of the present invention based on technique of binocular stereoscopic vision
The wind vibration response acquisition methods of membrane structure air spring pole are described in more detail, wherein：
Fig. 1 is the wind vibration response acquisition side of the membrane structure air spring pole based on technique of binocular stereoscopic vision described in embodiment
The flow chart of method；
Fig. 2 is the N in one response surface photograph of acquisition that embodiment is referred to1The center pixel of individual identification point sits calibration method
Flow chart；
Fig. 3 is the flow chart for the arrangement matching process based on benchmark photograph that embodiment is referred to.
Embodiment
Below in conjunction with wind of the accompanying drawing to the membrane structure air spring pole of the present invention based on technique of binocular stereoscopic vision
Vibration response acquisition methods are described further.
Embodiment：The present embodiment is explained with reference to Fig. 1 to Fig. 3.
The wind vibration response acquisition methods of the membrane structure air spring pole based on technique of binocular stereoscopic vision described in the present embodiment
Including：
Step 1: setting N on the response surface of membrane structure air spring pole for treating wind tunnel test1Individual identification point, identification point is
Annular；
Step 2: placing camera, the camera includes left camera and right camera；
Step 3: the inside and outside parameter of calibration for cameras；
Step 4: while wind tunnel test is carried out to membrane structure air spring pole, response surface photograph is obtained using camera；
Step 5: obtaining the center pixel coordinate of identification point according to response surface photograph；
Step 6: according to the inside and outside parameter of the center pixel coordinate of identification point and camera, and based on binocular stereo vision skill
The mathematical modeling of art solves the three-D displacement response for obtaining identification point；
Step 7: responding the dynamic respond in the face that meets with a response, the dynamic respond of response surface according to the three-D displacement of identification point
For the wind vibration response of membrane structure air spring pole.
The particular content of step 4 is：Left and right camera is used to be taken pictures with predetermined frequency to the response surface simultaneously,
And N is obtained respectively2Open response surface left view photograph and N2Open the response surface right side and regard photograph.
The particular content of step 5 is：N is obtained respectively2Open response surface left view photograph and N2The response surface right side is opened to regard in photograph
N1The center pixel coordinate of individual identification point, and to N2Open response surface left view photograph and N2Open same mark of the response surface right side in photograph
The center pixel coordinate for knowing point carries out matching correspondence, wherein, obtain the N in a response surface photograph1The middle imago of individual identification point
Element, which sits calibration method, to be included：
Step 1, using OTSU algorithms to the response surface photograph carry out image binaryzation processing, obtain N1The mould of individual identification point
Paste pixel；
Step 2, using the sub-pixel edge detection method based on Zernike squares to N1The fuzzy pixel of individual identification point carries out side
Edge is recognized, obtains N1The contour pixel of individual identification point；
Step 3, using eight neighborhood edge following algorithm to N1The contour pixel of individual identification point is tracked, and obtains 2N1Individual side
Edge pixel point set；
Step 4, using least square method two edge pixel point sets for belonging to the contour pixel of an identification point are entered
Row fitting, obtains first oval and the second ellipse；
It is step 5, oval and second oval based on first, and reject the orphan that described two edge pixel points are concentrated using 3 σ methods
Vertical wheel exterior feature pixel；
Whether there is isolated wire-frame image vegetarian refreshments to be removed in step 6, judgment step 5, when judged result is to be, perform step
7, otherwise, sat the intermediate value of the first oval centre coordinate and the second oval centre coordinate as the center pixel of the identification point
Mark；
Step 7, using least square method two new edge pixel point sets for belonging to the contour pixel of the identification point are entered
Row fitting, obtains the 3rd oval and the 4th ellipse, and by the 3rd oval centre coordinate and the 4th oval centre coordinate
It is worth the center pixel coordinate as the identification point；
Step 8, according to the method described in step 4 to step 7, obtain N1The center pixel coordinate of individual identification point.
Step 5 is using the arrangement matching process based on benchmark photograph to N2Open response surface left view photograph and N2Open response surface right
Center pixel coordinate depending on the same identification point in photograph carries out matching correspondence, wherein, the arrangement match party based on benchmark photograph
Method includes：
Step A, the N by benchmark photograph1The center pixel coordinate of individual identification point is descending according to abscissa or ordinate
Order be arranged as the first center pixel coordinate to N1Center pixel coordinate, the benchmark photograph is the film knot under inactive state
The response surface left view photograph of structure air spring pole is right regarding photograph；
Step B, the N for judging a response surface photograph successively1The corresponding benchmark of the center pixel coordinate of individual identification point
First center pixel coordinate of photograph is to N1The distance of center pixel coordinate, and according to the corresponding two middle imagos that match each other
The minimum principle of the distance of plain coordinate is by the N of this response surface photograph1The center pixel coordinate of individual identification point and the N of benchmark photograph1
The center pixel coordinate of individual identification point carries out matching correspondence；
Step C, according to the method described in step B, complete N2Open the N of response surface left view photograph1The center pixel of individual identification point
The matching correspondence and N of coordinate2Open the N that the response surface right side regards photograph1The matching correspondence of the center pixel coordinate of individual identification point；
Step D, by way of given adjustment vector, realize N2Open response surface left view photograph and N2Open the response surface right side and regard phase
N in piece1The matching correspondence of the center pixel coordinate of individual identification point.
Step 6 includes：
Step a, the N for having matched according to each identification point completion2Center pixel coordinate and N in individual left camera viewings2The individual right side
The inside and outside parameter of center pixel coordinate and camera in camera viewings, and the mathematical modeling based on technique of binocular stereoscopic vision asks
Solve N of each identification point under world coordinate system2Individual center pixel three-dimensional coordinate；
Response surface of the XOY plane of the world coordinate system under inactive state；
Step b, the N by each identification point2Individual center pixel three-dimensional coordinate makees poor with reference three-dimensional coordinate, obtains each mark
Know the N of point2The three-D displacement of individual center pixel, and then obtain the three-D displacement time-histories of each identification point.
Step 7 is based on N1The three-D displacement time-histories of individual identification point, and differential technique is used, the dynamic respond in the face that meets with a response.
The wind vibration response acquisition methods of the membrane structure air spring pole based on technique of binocular stereoscopic vision described in the present embodiment
Also have the advantages that：
1st, existing image binaryzation method is generally manually set gray threshold, and the OTSU algorithm roots that the present embodiment is used
Gray threshold is automatically determined according to real image, OTSU algorithms are that image is entered in a kind of of proposition in 1979 by Japanese scholars OTSU
The highly effective algorithm of row binaryzation, preferably can come prospect with background separation, and whole result of calculation is stable, and effect is good.
2nd, the present embodiment is using fuzzy pixel of the sub-pixel edge detection method based on Zernike squares to annular identification point
Limb recognition is carried out, accuracy of identification reaches sub-pixel, and noise resisting ability is strong, it is adaptable to the very noisy occasion of wind tunnel test.
3rd, the present embodiment is tracked using eight neighborhood edge following algorithm to the contour pixel of multiple identification points, and then right
The central feature of multiple identification points in individual response surface photograph is continuously and quickly scanned.This recognition mode can
Avoid first determining the Position Approximate of identification point, then carry out the recognition mode of the single identification point of single of target identification, computational efficiency
It is high.
4th, the present embodiment using least square method to the edge pixel point set of contour pixel during being fitted, fortune
The isolated point of edge pixel point concentration is rejected with 3 σ rules, the fitting precision of elliptical center is further increased.
5th, the present embodiment uses the arrangement matching process based on benchmark photograph to the same mark in multiple response surface photographs
Know point to be matched.The mode of this arrangement matching process track and localization identification point is intuitively quick, substantially increases computational efficiency,
Every response surface photograph only needs to calculate once, and without having several identification points, every response surface photograph as other matching process
With regard to it is to be processed several times.
Although describing the present invention herein with reference to specific embodiment, it should be understood that, these realities
Apply the example that example is only principles and applications.It should therefore be understood that can be permitted exemplary embodiment
Many modifications, and can be designed that other arrangements, the spirit of the invention limited without departing from appended claims and
Scope.It should be understood that can be by way of different from described by original claim come with reference to different appurtenances
It is required that and feature specifically described herein.It will also be appreciated that the feature with reference to described by separate embodiments can be used at it
In his embodiment.
Claims (6)
1. the wind vibration response acquisition methods of the membrane structure air spring pole based on technique of binocular stereoscopic vision, it is characterised in that described
Acquisition methods include：
Step 1: setting N on the response surface of membrane structure air spring pole for treating wind tunnel test1Individual identification point, identification point is annulus
Shape；
Step 2: placing camera, the camera includes left camera and right camera；
Step 3: the inside and outside parameter of calibration for cameras；
Step 4: while wind tunnel test is carried out to membrane structure air spring pole, response surface photograph is obtained using camera；
Step 5: obtaining the center pixel coordinate of identification point according to response surface photograph；
Step 6: according to the inside and outside parameter of the center pixel coordinate of identification point and camera, and based on technique of binocular stereoscopic vision
Mathematical modeling solves the three-D displacement response for obtaining identification point；
Step 7: responding the dynamic respond in the face that meets with a response according to the three-D displacement of identification point, the dynamic respond of response surface is film
The wind vibration response of structure air spring pole.
2. the wind vibration response acquisition side of the membrane structure air spring pole as claimed in claim 1 based on technique of binocular stereoscopic vision
Method, it is characterised in that the particular content of step 4 is：Left and right camera is used to enter with predetermined frequency to the response surface simultaneously
Row is taken pictures, and obtains N respectively2Open response surface left view photograph and N2Open the response surface right side and regard photograph.
3. the wind vibration response acquisition side of the membrane structure air spring pole as claimed in claim 2 based on technique of binocular stereoscopic vision
Method, it is characterised in that the particular content of step 5 is：N is obtained respectively2Open response surface left view photograph and N2Open the response surface right side and regard phase
N in piece1The center pixel coordinate of individual identification point, and to N2Open response surface left view photograph and N2The response surface right side is opened to regard in photograph
The center pixel coordinate of same identification point carries out matching correspondence, wherein, obtain the N in a response surface photograph1Individual identification point
Center pixel, which sits calibration method, to be included：
Step 1, using OTSU algorithms to the response surface photograph carry out image binaryzation processing, obtain N1The vague image of individual identification point
Element；
Step 2, using the sub-pixel edge detection method based on Zernike squares to N1The fuzzy pixel of individual identification point carries out edge knowledge
Not, N is obtained1The contour pixel of individual identification point；
Step 3, using eight neighborhood edge following algorithm to N1The contour pixel of individual identification point is tracked, and obtains 2N1Individual edge picture
Vegetarian refreshments collection；
Step 4, using least square method two edge pixel point sets for belonging to the contour pixel of an identification point are intended
Close, obtain first oval and the second ellipse；
It is step 5, oval and second oval based on first, and reject the isolated wheel that described two edge pixel points are concentrated using 3 σ methods
Wide pixel；
Whether there is isolated wire-frame image vegetarian refreshments to be removed in step 6, judgment step 5, it is no when judged result when being, to perform step 7
Then, using the intermediate value of the first oval centre coordinate and the centre coordinate of the second ellipse as the identification point center pixel coordinate；
Step 7, using least square method two new edge pixel point sets for belonging to the contour pixel of the identification point are intended
Close, obtain the 3rd oval and the 4th ellipse, and the intermediate value of the 3rd oval centre coordinate and the 4th oval centre coordinate is made
For the center pixel coordinate of the identification point；
Step 8, according to the method described in step 4 to step 7, obtain N1The center pixel coordinate of individual identification point.
4. the wind vibration response acquisition side of the membrane structure air spring pole as claimed in claim 3 based on technique of binocular stereoscopic vision
Method, it is characterised in that step 5 is using the arrangement matching process based on benchmark photograph to N2Open response surface left view photograph and N2Zhang Xiang
The center pixel coordinate for answering the face right side to regard the same identification point in photograph carries out matching correspondence, wherein, the arrangement based on benchmark photograph
Matching process includes：
Step A, the N by benchmark photograph1The center pixel coordinate of individual identification point is according to the descending order of abscissa or ordinate
The first center pixel coordinate is arranged as to N1Center pixel coordinate, the benchmark photograph is the membrane structure gas bullet under inactive state
The response surface left view photograph of model is right regarding photograph；
Step B, the N for judging a response surface photograph successively1The corresponding benchmark photograph of the center pixel coordinate of individual identification point
First center pixel coordinate is to N1The distance of center pixel coordinate, and according to the corresponding two center pixel coordinates that match each other
The minimum principle of distance by the N of this response surface photograph1The center pixel coordinate of individual identification point and the N of benchmark photograph1Individual mark
The center pixel coordinate of point carries out matching correspondence；
Step C, according to the method described in step B, complete N2Open the N of response surface left view photograph1The center pixel coordinate of individual identification point
Matching correspondence and N2Open the N that the response surface right side regards photograph1The matching correspondence of the center pixel coordinate of individual identification point；
Step D, by way of given adjustment vector, realize N2Open response surface left view photograph and N2The response surface right side is opened to regard in photograph
N1The matching correspondence of the center pixel coordinate of individual identification point.
5. the wind vibration response acquisition side of the membrane structure air spring pole as claimed in claim 4 based on technique of binocular stereoscopic vision
Method, it is characterised in that step 6 includes：
Step a, the N for having matched according to each identification point completion2Center pixel coordinate and N in individual left camera viewings2Individual right camera
The inside and outside parameter of center pixel coordinate and camera in photograph, and the solution of the mathematical modeling based on technique of binocular stereoscopic vision is every
N of the individual identification point under world coordinate system2Individual center pixel three-dimensional coordinate；
Response surface of the XOY plane of the world coordinate system under inactive state；
Step b, the N by each identification point2Individual center pixel three-dimensional coordinate makees poor with reference three-dimensional coordinate, obtains each identification point
N2The three-D displacement of individual center pixel, and then obtain the three-D displacement time-histories of each identification point.
6. the wind vibration response acquisition side of the membrane structure air spring pole as claimed in claim 5 based on technique of binocular stereoscopic vision
Method, it is characterised in that step 7 is based on N1The three-D displacement time-histories of individual identification point, and differential technique is used, the position in the face that meets with a response
Move response.
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| CN109612569B (en) * | 2018-12-29 | 2021-04-09 | 中国计量科学研究院 | Long-stroke vibration table guide rail bending correction method for low-frequency vibration calibration by laser interferometry |
| CN112067233A (en) * | 2020-09-02 | 2020-12-11 | 中国航天空气动力技术研究院 | Six-degree-of-freedom motion capture method for wind tunnel model |
| CN112067233B (en) * | 2020-09-02 | 2022-08-12 | 中国航天空气动力技术研究院 | Six-degree-of-freedom motion capture method for wind tunnel model |
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