CN107314882B - 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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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, solves the problems, such as the computationally intensive of the wind vibration response acquisition methods of the existing membrane structure air spring pole based on technique of binocular stereoscopic vision.The described method includes: N is arranged on the response surface to the membrane structure air spring pole of wind tunnel test1The step of a circular ring shape identification point, places the step of the step of left and right camera, the left and right camera of calibration inside and outside parameter, while carrying out wind tunnel test to membrane structure air spring pole, the step of the step of obtaining response surface photograph using camera, according to response face photograph obtain the step of identification point center pixel coordinate, according to the inside and outside parameter of identification point center pixel coordinate and camera, and mathematical model based on technique of binocular stereoscopic vision solves the three-D displacement response for obtaining identification point and the step of obtaining the dynamic respond of response surface, is responded 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
Test field.
Background technique
In the wind tunnel test of membrane structure air spring pole, the wind vibration response to membrane structure air spring pole is needed to measure.
The wind vibration response measurement 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 arranged on the response surface of membrane structure air spring pole
Formula measures the displacement of response surface.But even if ignore the small weight of acceleration transducer, during measurement, still
It needs that acceleration transducer is connected with charge amplifier by conducting wire.Therefore, the accuracy of the measurement result of this method is poor.
Contactless measurement generallys use laser displacement gauge to measure the displacement of response surface.With contact measurement method
It compares, this method is because laser displacement gauge is without accuracy with higher due to directly contact with membrane structure air spring pole.However, should
Method is also and non-perfect.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 needed to be designed the riding position of laser displacement gauge, such as is placed in the cavity of wind-tunnel.Except this
Except, a laser displacement gauge can only measure the displacement time-histories an of identification point, when the identification point being arranged on response surface is more
When, need more laser displacement gauges.This is not consistent with the development trend that existing membrane structure form complicates.For this purpose, there is scholar will
Technique of binocular stereoscopic vision is introduced into the wind vibration response measurement 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 period to photograph at
Reason needs block-by-block to scan for when obtaining three-D displacement, computationally intensive.
Summary 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
The computationally intensive problem for taking method, the wind shake for proposing a kind of membrane structure air spring pole based on technique of binocular stereoscopic vision are rung
Answer acquisition methods.
The wind vibration response acquisition methods packet of membrane structure air spring pole of the present invention based on technique of binocular stereoscopic vision
It includes:
Step 1: N is arranged on the response surface to the membrane structure air spring pole of wind tunnel test1A identification point, identification point are
Circular ring 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: obtaining response surface photograph using camera while carrying out wind tunnel test to membrane structure air spring pole；
Step 5: face photograph obtains the center pixel coordinate of identification point according to response；
Step 6: according to the inside and outside parameter of the center pixel coordinate of identification point and camera, and it is based on binocular stereo vision skill
The mathematical model of art solves the three-D displacement response for obtaining identification point；
Step 7: being responded to obtain the dynamic respond of response surface, 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 are as follows: while using left and right camera with scheduled frequency to the sound
It answers face to take pictures, and obtains N respectively2Open response surface left view photograph and N2Open the right view photograph of response surface.
As preferably, the particular content of step 5 are as follows: obtain N respectively2Open response surface left view photograph and N2Open response surface
N in right view photograph1The center pixel coordinate of a identification point, and to N2Open response surface left view photograph and N2Open the right view phase of response surface
The center pixel coordinate of same identification point in piece carries out matching correspondence, wherein obtains the N in a response surface photograph1A mark
The center pixel for knowing point sits calibration method and includes:
Step 1 carries out image binaryzation processing to the response surface photograph using OTSU algorithm, obtains N1The mould of a identification point
Paste pixel；
Step 2, using the sub-pixel edge detection method based on Zernike square to N1The fuzzy pixel of a identification point carries out side
Edge identification, obtains N1The contour pixel of a identification point；
Step 3, using eight neighborhood edge following algorithm to N1The contour pixel of a identification point is tracked, and 2N is obtained1A side
Edge pixel point set；
Step 4, using least square method to two edge pixel point sets of the contour pixel for belonging to an identification point into
Row fitting obtains first oval and the second ellipse；
Step 5, oval based on first and second is oval, and rejects 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 the judgment result is yes, executes step
7, otherwise, sat the intermediate value of the first elliptical centre coordinate and the second elliptical centre coordinate as the center pixel of the identification point
Mark；
Step 7, using least square method to two new edge pixel point sets of the contour pixel for belonging to the identification point into
Row fitting obtains third ellipse and the 4th ellipse, and will be in the elliptical centre coordinate of third and the 4th elliptical centre coordinate
It is worth the center pixel coordinate as the identification point；
Step 8, according to method described in step 4 to step 7, obtain N1The center pixel coordinate of a identification point.
As preferably, step 5 is using the arrangement matching process based on benchmark photograph to N2Open response surface left view photograph
And N2It opens the right center pixel coordinate depending on the same identification point in photograph of response surface and carries out matching correspondence, wherein be based on benchmark phase
The arrangement matching process of piece includes:
Step A, by the N of benchmark photograph1The center pixel coordinate of a identification point is descending according to abscissa or ordinate
Sequence be arranged as the first center pixel coordinate to N1Center pixel coordinate, the benchmark photograph are the film knot under stationary state
The response surface left view photograph of structure air spring pole or right view photograph；
Step B, successively judge the N of a response surface photograph1The corresponding benchmark of the center pixel coordinate of a 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 smallest principle of the distance of plain coordinate is by the N of this response surface photograph1The center pixel coordinate of a identification point and the N of benchmark photograph1
The center pixel coordinate of a identification point carries out matching correspondence；
Step C, according to method described in step B, N is completed2Open the N of response surface left view photograph1The center pixel of a identification point
The matching correspondence and N of coordinate2Open the N of the right view photograph of response surface1The matching of the center pixel coordinate of a identification point is corresponding；
Step D, by way of given adjustment vector, N is realized2Open response surface left view photograph and N2Open the right view phase of response surface
N in piece1The matching of the center pixel coordinate of a identification point is corresponding.
As preferably, step 6 includes:
Step a, the N of completion has been matched according to each identification point2Center pixel coordinate and N in a left camera viewings2A right side
The inside and outside parameter of center pixel coordinate and camera in camera viewings, and the mathematical model based on technique of binocular stereoscopic vision is asked
Solve N of each identification point under world coordinate system2A center pixel three-dimensional coordinate；
Response surface of the XOY plane of the world coordinate system under stationary state；
Step b, by the N of each identification point2It is poor that a center pixel three-dimensional coordinate and reference three-dimensional coordinate are made, and obtains each mark
Know the N of point2The three-D displacement of a 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 a identification point, and differential technique is used, it is responded
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
It is scanned for without block-by-block, is only needed when being carried out processing acquisition three-D displacement to response surface photograph in the later period with circular ring shape identification point
Point search is carried out, calculation amount is small.
Detailed description of the invention
It will hereinafter come based on the embodiments and with reference to the accompanying drawings 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, in which:
Fig. 1 is the wind vibration response acquisition side of the membrane structure air spring pole described in embodiment based on technique of binocular stereoscopic vision
The flow chart of method；
Fig. 2 is that N in response surface photograph is opened in the acquisition one that embodiment refers to1The center pixel of a identification point sits calibration method
Flow chart；
Fig. 3 is the flow chart for the arrangement matching process based on benchmark photograph that embodiment refers to.
Specific embodiment
Below in conjunction with attached drawing to the wind of 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 in detail below with reference to Fig. 1 to Fig. 3.
The wind vibration response acquisition methods of membrane structure air spring pole described in the present embodiment based on technique of binocular stereoscopic vision
Include:
Step 1: N is arranged on the response surface to the membrane structure air spring pole of wind tunnel test1A identification point, identification point are
Circular ring 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: obtaining response surface photograph using camera while carrying out wind tunnel test to membrane structure air spring pole；
Step 5: face photograph obtains the center pixel coordinate of identification point according to response；
Step 6: according to the inside and outside parameter of the center pixel coordinate of identification point and camera, and it is based on binocular stereo vision skill
The mathematical model of art solves the three-D displacement response for obtaining identification point；
Step 7: being responded to obtain the dynamic respond of response surface, 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 are as follows: while left and right camera being used to take pictures with scheduled frequency to the response surface,
And N is obtained respectively2Open response surface left view photograph and N2Open the right view photograph of response surface.
The particular content of step 5 are as follows: obtain N respectively2Open response surface left view photograph and N2It opens in the right view photograph of response surface
N1The center pixel coordinate of a identification point, and to N2Open response surface left view photograph and N2Open the same mark in the right view photograph of response surface
The center pixel coordinate for knowing point carries out matching correspondence, wherein obtains the N in a response surface photograph1The middle imago of a identification point
Element sits calibration method
Step 1 carries out image binaryzation processing to the response surface photograph using OTSU algorithm, obtains N1The mould of a identification point
Paste pixel；
Step 2, using the sub-pixel edge detection method based on Zernike square to N1The fuzzy pixel of a identification point carries out side
Edge identification, obtains N1The contour pixel of a identification point；
Step 3, using eight neighborhood edge following algorithm to N1The contour pixel of a identification point is tracked, and 2N is obtained1A side
Edge pixel point set；
Step 4, using least square method to two edge pixel point sets of the contour pixel for belonging to an identification point into
Row fitting obtains first oval and the second ellipse；
Step 5, oval based on first and second is oval, and rejects 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 the judgment result is yes, executes step
7, otherwise, sat the intermediate value of the first elliptical centre coordinate and the second elliptical centre coordinate as the center pixel of the identification point
Mark；
Step 7, using least square method to two new edge pixel point sets of the contour pixel for belonging to the identification point into
Row fitting obtains third ellipse and the 4th ellipse, and will be in the elliptical centre coordinate of third and the 4th elliptical centre coordinate
It is worth the center pixel coordinate as the identification point；
Step 8, according to method described in step 4 to step 7, obtain N1The center pixel coordinate of a identification point.
Step 5 is using the arrangement matching process based on benchmark photograph to N2Open response surface left view photograph and N2It is right to open response surface
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, by the N of benchmark photograph1The center pixel coordinate of a identification point is descending according to abscissa or ordinate
Sequence be arranged as the first center pixel coordinate to N1Center pixel coordinate, the benchmark photograph are the film knot under stationary state
The response surface left view photograph of structure air spring pole or right view photograph；
Step B, successively judge the N of a response surface photograph1The corresponding benchmark of the center pixel coordinate of a 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 smallest principle of the distance of plain coordinate is by the N of this response surface photograph1The center pixel coordinate of a identification point and the N of benchmark photograph1
The center pixel coordinate of a identification point carries out matching correspondence；
Step C, according to method described in step B, N is completed2Open the N of response surface left view photograph1The center pixel of a identification point
The matching correspondence and N of coordinate2Open the N of the right view photograph of response surface1The matching of the center pixel coordinate of a identification point is corresponding；
Step D, by way of given adjustment vector, N is realized2Open response surface left view photograph and N2Open the right view phase of response surface
N in piece1The matching of the center pixel coordinate of a identification point is corresponding.
Step 6 includes:
Step a, the N of completion has been matched according to each identification point2Center pixel coordinate and N in a left camera viewings2A right side
The inside and outside parameter of center pixel coordinate and camera in camera viewings, and the mathematical model based on technique of binocular stereoscopic vision is asked
Solve N of each identification point under world coordinate system2A center pixel three-dimensional coordinate；
Response surface of the XOY plane of the world coordinate system under stationary state；
Step b, by the N of each identification point2It is poor that a center pixel three-dimensional coordinate and reference three-dimensional coordinate are made, and obtains each mark
Know the N of point2The three-D displacement of a 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 a identification point, and differential technique is used, obtain the dynamic respond of response surface.
The wind vibration response acquisition methods of membrane structure air spring pole described in the present embodiment based on technique of binocular stereoscopic vision
Also have the advantages that
1, existing image binaryzation method is usually manually set gray threshold, and the OTSU algorithm root that the present embodiment uses
Automatically determine gray threshold according to real image, OTSU algorithm be a kind of pair of image being proposed by Japanese scholars OTSU in 1979 into
The highly effective algorithm of row binaryzation can preferably come prospect and background separation, and entire calculated result is stablized, and effect is good.
2, the present embodiment is using the sub-pixel edge detection method based on Zernike square to the fuzzy pixel of circular ring shape identification point
Limb recognition is carried out, accuracy of identification reaches sub-pixel, and noise resisting ability is strong, the very noisy occasion suitable for wind tunnel test.
3, the present embodiment tracks the contour pixel of multiple identification points using eight neighborhood edge following algorithm, and then right
The central feature of multiple identification points in individual response surface photograph is continuously and quickly scanned.This recognition mode can
The Position Approximate for first determining identification point is avoided, then carries out the recognition mode of the single identification point of single of target identification, computational efficiency
It is high.
4, the present embodiment is during being fitted the edge pixel point set of contour pixel using least square method, fortune
The isolated point that edge pixel point concentration is rejected with 3 σ rules, further improves the fitting precision of elliptical center.
5, the present embodiment is using 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 tracking and positioning identification point is intuitively quick, substantially increases computational efficiency,
Every response surface photograph only needs to calculate once, and does not have to have 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
Applying example only is the example of principles and applications.It should therefore be understood that can be permitted exemplary embodiment
More modifications, and can be designed that other arrangements, without departing from spirit of the invention as defined in the appended claims and
Range.It should be understood that different appurtenances can be combined by being different from mode described in original claim
It is required that and feature described herein.It will also be appreciated that the feature in conjunction with described in separate embodiments can be used at it
In his embodiment.
Claims (4)
1. the wind vibration response acquisition methods of the membrane structure air spring pole based on technique of binocular stereoscopic vision, the acquisition methods packet
It includes:
Step 1: N is arranged on the response surface to the membrane structure air spring pole of wind tunnel test1A identification point, identification point are 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: obtaining response surface photograph using camera while carrying out wind tunnel test to membrane structure air spring pole；
Step 5: face photograph obtains the center pixel coordinate of identification point according to response；
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 model solves the three-D displacement response for obtaining identification point；
Step 7: being responded to obtain the dynamic respond of response surface 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；
The particular content of step 4 are as follows: while left and right camera being used to take pictures with scheduled frequency to the response surface, and point
It Huo get not N2Open response surface left view photograph and N2Open the right view photograph of response surface；
It is characterized in that, the particular content of step 5 are as follows: obtain N respectively2Open response surface left view photograph and N2Open the right view phase of response surface
N in piece1The center pixel coordinate of a identification point, and to N2Open response surface left view photograph and N2It opens in the right view photograph of response surface
The center pixel coordinate of same identification point carries out matching correspondence, wherein obtains the N in a response surface photograph1A identification point
Center pixel sits calibration method
Step 1 carries out image binaryzation processing to the response surface photograph using OTSU algorithm, obtains N1The vague image of a identification point
Element；
Step 2, using the sub-pixel edge detection method based on Zernike square to N1The fuzzy pixel of a identification point carries out edge knowledge
Not, N is obtained1The contour pixel of a identification point；
Step 3, using eight neighborhood edge following algorithm to N1The contour pixel of a identification point is tracked, and 2N is obtained1A edge picture
Vegetarian refreshments collection；
Step 4 is intended using two edge pixel point sets of the least square method to the contour pixel for belonging to an identification point
It closes, obtains first oval and the second ellipse；
Step 5, oval based on first and second is oval, and rejects 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, when the judgment result is yes, executes step 7, it is no
Then, using the intermediate value of the first elliptical centre coordinate and the second elliptical centre coordinate as the center pixel coordinate of the identification point；
Step 7 is intended using two new edge pixel point sets of the least square method to the contour pixel for belonging to the identification point
It closes, obtains third ellipse and the 4th ellipse, and the intermediate value of the elliptical centre coordinate of third and the 4th elliptical centre coordinate is made
For the center pixel coordinate of the identification point；
Step 8, according to method described in step 4 to step 7, obtain N1The center pixel coordinate of a identification point.
2. the wind vibration response acquisition side of the membrane structure air spring pole based on technique of binocular stereoscopic vision as described in claim 1
Method, which is characterized in that step 5 is using the arrangement matching process based on benchmark photograph to N2Open response surface left view photograph and N2Zhang Xiang
It answers face right and carries out matching correspondence depending on the center pixel coordinate of the same identification point in photograph, wherein the arrangement based on benchmark photograph
Matching process includes:
Step A, by the N of benchmark photograph1The center pixel coordinate of a identification point sequence descending according to abscissa or ordinate
The first center pixel coordinate is arranged as to N1Center pixel coordinate, the benchmark photograph are the membrane structure gas bullet under stationary state
The response surface left view photograph of model or right view photograph；
Step B, successively judge the N of a response surface photograph1The corresponding benchmark photograph of the center pixel coordinate of a 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 smallest principle of distance by the N of this response surface photograph1The center pixel coordinate of a identification point and the N of benchmark photograph1A mark
The center pixel coordinate of point carries out matching correspondence；
Step C, according to method described in step B, N is completed2Open the N of response surface left view photograph1The center pixel coordinate of a identification point
Matching is corresponding and N2Open the N of the right view photograph of response surface1The matching of the center pixel coordinate of a identification point is corresponding；
Step D, by way of given adjustment vector, N is realized2Open response surface left view photograph and N2It opens in the right view photograph of response surface
N1The matching of the center pixel coordinate of a identification point is corresponding.
3. the wind vibration response acquisition side of the membrane structure air spring pole based on technique of binocular stereoscopic vision as claimed in claim 2
Method, which is characterized in that step 6 includes:
Step a, the N of completion has been matched according to each identification point2Center pixel coordinate and N in a left camera viewings2A right camera
The inside and outside parameter of center pixel coordinate and camera in photograph, and the mathematical model based on technique of binocular stereoscopic vision solves often
N of a identification point under world coordinate system2A center pixel three-dimensional coordinate；
Response surface of the XOY plane of the world coordinate system under stationary state；
Step b, by the N of each identification point2It is poor that a center pixel three-dimensional coordinate and reference three-dimensional coordinate are made, and obtains each identification point
N2The three-D displacement of a center pixel, and then obtain the three-D displacement time-histories of each identification point.
4. the wind vibration response acquisition side of the membrane structure air spring pole based on technique of binocular stereoscopic vision as claimed in claim 3
Method, which is characterized in that step 7 is based on N1The three-D displacement time-histories of a identification point, and differential technique is used, obtain the position of response surface
Move response.
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| CN101699237A (en) * | 2009-11-20 | 2010-04-28 | 中国航空工业空气动力研究院 | Three-dimensional model attitude angle video measuring system for wind tunnel model test |
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