CN107421626B

CN107421626B - Flexible arm space vibration characteristic analysis device and method based on multiple cameras

Info

Publication number: CN107421626B
Application number: CN201710585290.4A
Authority: CN
Inventors: 邱志成; 林浩辉
Original assignee: South China University of Technology SCUT
Current assignee: South China University of Technology SCUT
Priority date: 2017-07-18
Filing date: 2017-07-18
Publication date: 2023-03-21
Anticipated expiration: 2037-07-18
Also published as: CN107421626A

Abstract

The invention discloses a flexible arm space vibration characteristic analysis device and method based on multiple cameras, wherein the device comprises a two-degree-of-freedom large arm movement device part driven by double servo motors, a support system part consisting of an experiment pedestal and a slider tripod platform, and a multiple-camera space measurement analysis system part consisting of three cameras; the two-freedom-degree large arm motion device part is fixedly arranged on the experiment pedestal, and the multi-camera space measurement analysis system part is arranged on the sliding block tripod platform. The multi-camera space measurement and analysis system is used for measuring the space positions of the mark points on the two-freedom-degree large arm under the motion condition, and the obtained space position information of the mark points is analyzed to obtain the information of bending vibration and torsional vibration of the two-freedom-degree large arm in a three-dimensional space, so that the vibration of the two-freedom-degree large arm can be actively controlled, and a simulation experiment foundation is laid for realizing the space active control of a space station on the multi-freedom-degree space manipulator.

Description

Flexible arm space vibration characteristic analysis device and method based on multiple cameras

Technical Field

The invention relates to the technical field of positioning and vibration control of flexible structures, in particular to a flexible arm space vibration characteristic analysis device and method based on multiple cameras.

Background

Along with the rapid development of the current aerospace industry, the efficiency requirement of human beings on space exploration is more and more rapid, wherein the rapid conveying of space materials has great influence on the maintenance of spacecrafts and the food supply of space station workers, and after a space plane reaches the vicinity of a target space station, the butt joint of the space plane and the space station is very difficult due to the space environment, so that the material conveying efficiency is very limited, the originally very simple butt joint work becomes very difficult, and even the material conveying is possibly delayed seriously. The space mechanical arm is successfully researched and developed and put into use, and the problem of material conveying and butt joint work of the space station is almost fundamentally solved. Simultaneously, space arm except can accomplish space station goods and materials transport butt joint work fast, can also realize effectively clearing up floating the space rubbish in near space.

The space mechanical arm is an intelligent robot with extremely accurate operability and flexibility, and is high-end space equipment organically combining multiple subjects such as precision machinery, space dynamics, precision miniature electronics, control and the like. The space mechanical arm is an important bridge between a space plane and a space station, the development of important technologies and space science researches of the space plane and an international space station is promoted, and the moving scale and range of human beings in space are enlarged.

The space mechanical arm is provided with a multi-view visual recognition system and feedback active control thereof, and signal detection and feedback active control of various sensitive sensors, so that the space mechanical arm has good autonomous analysis and autonomous control capabilities, meanwhile, manual control can be performed by space station workers, and accurate butt joint and cleaning of space abandoned satellites, large space garbage and the like are realized.

Space manipulators currently mainly adopt high-strength alloy pipes with the length of more than ten meters, and have multiple degrees of freedom (generally 6 degrees of freedom). In the application process of the international space station, because the ratio of the length of the pipe to the diameter of the pipe is large and the degree of freedom is high, the bending vibration and torsional vibration of the space mechanical arm inevitably have great influence on the precise remote control of the space mechanical arm, so that the effective control of the vibration of the space mechanical arm is the key place for determining whether the space mechanical arm can be normally applied to the international space station, and the measurement precision degree of the bending vibration and torsional vibration of the space mechanical arm is the basis for obtaining accurate vibration control information.

The multi-camera measuring system can be applied to the characteristics of high frame rate, extremely short exposure time, non-contact measurement and the like of a high-speed industrial camera, accurately and dynamically records the experimental simulation condition of the space manipulator in real time, and further processes the recorded photos through a computer and analyzes the photos to obtain accurate vibration information of each calibration point, so that accurate active control over the space manipulator is realized, and meanwhile, theoretical and experimental bases are provided for the space manipulator with higher degree of freedom to be successfully applied to a space environment.

Disclosure of Invention

In order to overcome the defects and shortcomings of the prior art, the invention provides a flexible arm space vibration characteristic analysis device and method based on multiple cameras, which apply the progressive scanning sensor and the global shutter of a high-speed industrial camera, have the advantage of being capable of clearly recording information in a view in a very short time, and realize real-time dynamic recording of space bending vibration and torsional vibration information of a flexible arm with two degrees of freedom, so that the vibration condition of the flexible arm in the space can be accurately analyzed, and a reference basis is provided for vibration analysis of the flexible arm with higher degree of freedom.

In order to solve the technical problems, the invention provides the following technical scheme: a flexible arm space vibration characteristic analysis device based on a multi-camera comprises an experiment pedestal, a speed reducer supporting seat, an alternating current servo motor I, a speed reducer I, an I-shaped extension arm, a flexible big arm I, a speed reducer support, an alternating current servo motor II, a speed reducer II and a flexible big arm II;

the speed reducer supporting seat is fixed on the experiment pedestal, and the alternating current servo motor I is fixed on the speed reducer supporting seat;

the speed reducer I is fixedly connected with a driving shaft of an alternating current servo motor I, the flexible large arm I is fixedly connected with the speed reducer I through the I-shaped extension arm, and the alternating current servo motor I drives the speed reducer I through a shaft so as to drive the flexible large arm I;

the speed reducer II is fixedly connected with the flexible large arm I through the speed reducer support, the AC servo motor II is fixedly connected with the speed reducer II, the flexible large arm II is fixedly connected with the speed reducer II, and the AC servo motor II drives the speed reducer II through a shaft, so that the flexible large arm II is driven to rotate.

Furthermore, the flexible arm space vibration characteristic analysis device based on the multiple cameras further comprises a camera fixing support, an adjustable support I, an adjustable support II, a camera fast-assembling platform, a camera assembly I, a depth camera assembly II and a plane camera assembly;

the camera quick-mounting platform comprises an adjustable support I, a camera quick-mounting platform, a camera assembly I, a depth camera assembly II, a plane camera assembly, a camera fixing support, an adjustable support II, a camera quick-mounting platform and a camera quick-mounting platform, wherein one end of the adjustable support I is fixed on the camera fixing support, the other end of the adjustable support II is fixed on the adjustable support II, the middle part of the camera quick-mounting platform is fixed at the joint between the adjustable support I and the adjustable support II, the camera assembly I and the depth camera assembly II are respectively arranged at two ends of the camera quick-mounting platform, and the plane camera assembly is arranged at the top end of the adjustable support II;

the camera fixing support is fixedly installed beside the experiment pedestal, and the camera assembly I, the depth camera assembly II and the lens of the plane camera assembly are opposite to the experiment pedestal.

Further, the multi-camera based flexible arm spatial vibration characteristic analysis device further comprises an industrial computer and an encoder;

the encoder is integrated with the alternating current servo motor I and the alternating current servo motor II and is used for detecting corner position signals of the alternating current servo motor I and the alternating current servo motor II and sending the corner position signals to the industrial computer after passing through the encoder resolving card;

the industrial computer is connected with the encoder and the 3 depth camera assemblies, and is used for receiving the photo information sent by the depth camera assemblies, analyzing and processing the photo information, and receiving the information sent by the encoder and processing the information.

Further, the camera fixing support adopts a tripod, and the tripod comprises 3 guide rail assemblies, 3 sliding block assemblies, 3 adjustable foot tube components and a camera system cloud platform; the guide rail assembly is fixedly connected with the bottom of each adjustable foot pipe component through a sliding block assembly, the camera system cloud platform is fixed on the top of each of the 3 adjustable foot pipe components, and the adjustable support I is fixed on the camera system cloud platform.

Further, the adjustable leg pipe component comprises 2 ball connecting rods, a leg pipe inner shaft rod, a leg pipe locking knob, a leg pipe outer shaft sleeve and 2 leg pipe side end covers; each adjustable foot pipe component can change the total length thereof by adjusting the foot pipe locking knob, the target length thereof is fixed by screwing the foot pipe locking knob, and different angle requirements of the camera system cloud deck are realized by combining different adjustable foot pipe component lengths; meanwhile, the spherical surfaces are matched with the end parts of the shaft rods in the foot tubes, the end parts of the shaft sleeves outside the foot tubes and the end covers at the side ends of the foot tubes, so that the flexibility of the sliding block tripod platform supporting system is enhanced.

Furthermore, the adjustable support I comprises a quick-mounting flange, a support shaft core I, a support locking knob I, a support shaft sleeve I and a support flange I, the quick-mounting flange fixes the support shaft core I, and the support flange I fixes the support shaft sleeve I; support axle core I spiral fixed support axle sleeve I to through support locking knob I height of adjusting support axle core I.

Furthermore, the adjustable support II comprises a quick mounting plate, a support shaft core II, a support locking knob II, a support shaft sleeve II and a support flange II, the quick mounting plate fixes the support shaft core II, and the support flange II fixes the support shaft sleeve II; and the support shaft core II is spirally fixed on the support shaft sleeve II, and the height of the support shaft core II is adjusted through the support locking knob II.

The invention also aims to provide a flexible arm space vibration characteristic analysis method based on multiple cameras, which comprises the following steps:

s1, controlling an alternating current servo motor I to rotate, and driving a flexible large arm I and a secondary rotating unit on the flexible large arm I to rotate through a speed reducer I and an I-shaped extension arm; controlling an alternating current servo motor II to rotate, and driving a flexible big arm II to rotate through a speed reducer II;

s2, detecting corner position signals of the alternating current servo motor I and the alternating current servo motor II in the step S1 respectively by using a built-in encoder, and transmitting the corner position signals to an industrial computer and the like together to be subjected to corresponding algorithm processing;

s3, firstly, forming a parallel binocular vision system by a depth camera assembly I and a depth camera assembly II, rapidly recording the space position information of the mark points on the flexible large arm I and the flexible large arm II, and recording the plane information of the flexible large arm I, the flexible large arm II and all the mark points on the flexible large arm II in the visual range by a plane camera assembly; sending the spatial position information and the plane information to an industrial computer;

and S4, the industrial computer applies a corresponding algorithm to process the information sent in the step S3, performs corresponding algorithm processing by combining the corner position signal obtained in the step S2, and analyzes and obtains the bending vibration and torsional vibration conditions of the flexible large arm I and the flexible large arm II in the space.

After the technical scheme is adopted, the invention at least has the following beneficial effects:

(1) The low-return-clearance flange output speed reducer has the characteristics of very low return clearance, high strength, compact and short structure, and can avoid the additional non-negligible influence on the bending vibration and the torsional vibration of the flexible arm with two degrees of freedom due to overlarge return clearance of the speed reducer or overlarge torque generated by a driving part;

(2) The slider tripod platform support system combines the advantages of good stable movement, tripod adaptability and stable support of the linear guide rail, and avoids the shaking condition which obviously influences the measurement result and damages to the high-precision sensor of the camera when the spatial position of the camera system is adjusted;

(3) The multi-camera measuring system can accurately measure various vibration conditions of the flexible arm with two degrees of freedom in a three-dimensional space, ensures that the subsequent vibration analysis of the flexible arm has high accuracy, and provides good guarantee for the vibration control of the flexible arm; the binocular parallel vision depth camera and the monocular vision plane camera both have strong flexibility adaptability, so that the measuring system has strong measuring capability.

Drawings

FIG. 1 is a schematic diagram of the general structure of a multi-camera-based flexible arm spatial vibration characteristic analysis device of the present invention;

FIG. 2 is a side view of the multi-camera based flexible arm spatial vibration characterization apparatus of the present invention;

FIG. 3 is a top view of the multi-camera based flexible arm spatial vibration characteristic analysis apparatus of the present invention;

FIG. 4 is an enlarged schematic view of the camera system axis measurement of the multi-camera-based flexible arm spatial vibration characteristic analysis device of the present invention;

FIG. 5 is a schematic structural diagram of an adjustable support I in the multi-camera-based flexible arm spatial vibration characteristic analysis device of the invention;

FIG. 6 is a schematic structural diagram of an adjusting support II in the multi-camera-based flexible arm spatial vibration characteristic analysis device of the invention;

FIG. 7 is a schematic structural diagram of a speed reducer support seat in the multi-camera-based flexible arm spatial vibration characteristic analysis device of the present invention;

FIG. 8 is a schematic structural diagram of a slider assembly in the multi-camera-based flexible arm spatial vibration characteristic analysis apparatus according to the present invention;

fig. 9 is a schematic structural diagram of an adjustable foot pipe component in the multi-camera based flexible arm spatial vibration characteristic analysis device of the invention.

Detailed Description

It should be noted that, in the present application, the embodiments and features of the embodiments may be combined with each other without conflict, and the present application is further described in detail with reference to the drawings and specific embodiments.

Examples

A flexible arm space vibration characteristic analysis device and method based on multiple cameras, the device includes two degrees of freedom big arm movement device part, experiment pedestal and supporting system part that the slide block tripod platform forms that the double servo motor drives, and the multiple cameras space measurement analysis system part that is formed by three cameras;

as shown in fig. 1 to 4, an alternating current servo motor i (13) drives a flexible large arm i (16) to rotate through a speed reducer i (14) and an i-shaped extension arm (15) fixedly connected with the speed reducer i (14), and forms a primary rotating unit together with the speed reducer i (14) and a speed reducer support seat (12); the speed reducer supporting seat (12) comprises a fixed vertical plate (121), a supporting seat bottom plate (122), a supporting vertical plate (123) and a supporting plate (124), as shown in figure 7, 2 horizontal bolts (transversely uniformly distributed at intervals of 70mm, 4 vertical bolts (longitudinally uniformly distributed at intervals of 45 mm), and symmetrical about the center line of the length and width directions) is fixed on the right side table-board of the experiment table-base (1), the distance between the respective center lines of the support base plate (122) and the experiment table-base (1) in the length direction is 55mm, and the distance between the end surface of the fixed vertical plate (121) and the front end surface of the experiment table-base (1) is 23mm; the speed reducer I (14) is concentrically arranged on the inner end face of a fixed vertical plate (121) of the speed reducer supporting seat (12) through an assembly flange plate and 8M 5 bolts (PCD is 109 mm), and the distance from the inner end face to the working face of the experiment pedestal (1) is 40mm; the alternating current servo motor I (13) is concentrically fixed on a flange boss of the speed reducer I (14) through 4M 6 bolts (PCD is 70 mm) and is supported and limited by a supporting plate (124) of the speed reducer supporting seat (12); the front end face of the I-shaped extension arm (15) is concentrically and fixedly connected with an output boss of the speed reducer I (14) through 8M 5 bolts (PCD is 50 mm), and the rear end face of the I-shaped extension arm is concentrically and fixedly connected with the near-end connecting face of the flexible large arm I (16) through 8M 5 bolts (PCD is 50 mm);

the alternating current servo motor II (18) drives the flexible big arm II (20) to rotate through the speed reducer II (19), and the alternating current servo motor II, the speed reducer II (19) and the speed reducer support (17) jointly form a secondary rotating unit 5; the speed reducer support (17) is fixed on the far-end connecting surface of the flexible big arm I (16) through 8M 5 bolts (PCD is 50 mm), and the speed reducer II (19) is concentrically arranged on a fixed vertical plate of the speed reducer support (17) through an assembling flange plate and 8M 5 bolts (PCD is 79 mm) and is 68mm away from the inner side of a bottom plate of the speed reducer support (17); the alternating current servo motor II (18) is concentrically fixed on a flange boss of the speed reducer II (19) through 2M 5 bolts (PCD is 46 mm); the perforated end face of the flexible big arm II (20) is concentrically fixed on an output boss of the speed reducer II (19) directly through 8M 5 bolts (PCD is 31.5 mm).

In the embodiment, the AC servo motor I (13) is an HC-MFS series motor of Mitsubishi corporation, the model is HC-MFS-73, the output power is 750W, the AC servo motor II (18) is an HC-MFS series motor of Mitsubishi corporation, the model is HC-MFS-43, the output power is 400W, and the rated rotating speed is 3000r/min; the speed reducer I (14) is a low return clearance flange output speed reducer of Neugart, germany, with the model of PLEN 90-2-80 and the rated output torque of 80N x m, and the speed reducer II (19) is a low return clearance flange output speed reducer of Neugart, germany, with the model of PLEN 64-2-65 and the rated output torque of 65N x m.

The supporting system consisting of the sliding block tripod platform consists of three uniformly distributed guide rail assemblies (2), a sliding block assembly (3), an adjustable foot pipe component (4) and a camera system tripod head (5), has four adjusting structures with different heights or angles, and can easily meet the measurement requirements of mark points at different positions on a flexible large arm I (16) and a flexible large arm II (20);

in a supporting system consisting of a sliding block tripod platform, each sliding block assembly (3) can freely slide along a guide rail which is matched with the evenly distributed three guide rail assemblies (2), meanwhile, the sliding block assemblies (3) can be fixed on any position of the guide rail through a sliding block positioning knob (33), and the three sliding block assemblies (3) can stably and synchronously move by moving any sliding block assembly (3), so that the trouble that the tripod platform needs to be lifted when the platform height is adjusted by a common tripod platform is avoided;

wherein, the sliding block assembly (3) is composed of a foot tube connecting block (31), a sliding block (32) and a sliding block positioning knob (33), as shown in fig. 8; the adjustable foot tube component (4) consists of two ball connecting rods (41), a foot tube inner shaft rod (42), a foot tube locking knob (43), a foot tube outer shaft sleeve (44) and two foot tube side end covers (45), as shown in fig. 9; each adjustable foot pipe part (4) can change its total length through adjusting pine foot pipe locking knob (43), and fix its target length through screwing up foot pipe locking knob (43), the different angle demands of camera system cloud platform (5) can be realized to different adjustable foot pipe part (4) length combinations, ball connecting rod (41) and foot intraductal axostylus axostyle (42) tip simultaneously, all adopt the sphere cooperation between foot outside axle sleeve (44) tip and foot pipe side end cover (45), and with 4M 2 bolt fastening (horizontal and vertically all with 12 mm's interval equipartition 2, and central line symmetry about length and width direction), slider tripod platform braced system's degree of flexibility has been strengthened.

In the embodiment, the uniformly distributed three-guide-rail assembly (2) and the three-slide-block assembly (3) are composed of three independent matched miniature linear guide rails, the MISUMI standard miniature linear guide rail of Nipponmi company is selected, the model is SSEBW20-700, the material is stainless steel, the width W1, the height H1 and the length L of the standard guide rail are respectively 15mm, 9.5mm and 700mm, and the standard miniature slide blocks are equipped; the adjustable foot pipe component (4) is a tripod foot pipe of Nikon company of Japan, and the model is CX-560.

The multi-camera space measurement and analysis system comprises three cameras, and mainly comprises four major parts, namely three camera assemblies, an adjustable support I (6), a camera fast-assembly platform (7) and an adjustable support II (8), wherein the three camera assemblies are a depth camera assembly I (9), a depth camera assembly II (10) and a plane camera assembly (11), the depth camera assembly I (9) and the depth camera assembly II (10) are symmetrically arranged on a left fast-assembly connecting hole and a right fast-assembly connecting hole of the camera fast-assembly platform (7) respectively, the depth camera assembly I (9) and the depth camera assembly II (10) are parallel to each other and are arranged at a distance of 196mm, the camera platform (7) is centrally arranged on a fast-assembly flange (61) of the adjustable support I (6), and the plane camera assembly (11) is arranged on a fast-assembly plate (81) of the adjustable support II (8);

the depth camera assembly I (9) is composed of an industrial camera, an industrial lens and a camera quick-assembly block, the industrial camera and the camera quick-assembly block are fixedly connected through 4M 3 bolts, and all the components of the depth camera assembly II (10) and the plane camera assembly (11) are consistent with those of the depth camera assembly I (9);

the adjustable support I (6) is composed of five parts, namely a quick-mounting flange (61), a support shaft core I (62), a support locking knob I (63), a support shaft sleeve I (64) and a support flange I (65), as shown in figure 5, the heights of three camera assemblies can be changed at will by loosening the support locking knob I (63), the target height of the three camera assemblies is fixed by screwing the support locking knob I (63), and the three camera assemblies are concentrically fixed on a camera system tripod head (5); the adjustable support II (8) is composed of five parts, namely a fast-assembling plate (81), a support shaft core II (82), a support locking knob II (83), a support shaft sleeve II (84) and a support flange II (85), as shown in fig. 6, the height of the plane camera assembly (11) can be changed by adjusting and conveying the support locking knob II (83), the target height of the plane camera assembly (11) is fixed by screwing the support locking knob II (83), and the adjustable support II (8) is fixed above the center line of the camera fast-assembling platform (7) in the length direction and is concentric with the fast-assembling flange (61) of the adjustable support I (6);

the adjustable support I (6) and the adjustable support II (8) can realize the arbitrary angle adjustment of the fixed part above the adjustable support in the plane parallel to the camera system holder (5) while adjusting the height.

The measuring system comprises three cameras, one camera is used for measuring vibration information of a plane, the other two cameras form binocular stereo vision and are used for measuring depth information, and therefore the information of the three-dimensional vibration of the mark points on the flexible arm in space can be detected by combining the detection plane and the depth information.

In this embodiment, the industrial camera is a Baumer TX series industrial camera of Baumer (Baumer) of switzerland, and has a model number of: TX-G02C, the external dimension is 60mm multiplied by 52mm multiplied by 33mm, the sensor is Sony ICX618, the type of a photosensitive chip is a CCD scanned line by line, the size of the photosensitive chip is 3.6736mm multiplied by 2.744mm, the size of a pixel is 5.6 mu m multiplied by 5.6 mu m, the resolution (pixel) is 656 multiplied by 490, the optical filter is RGB Bayer Mosaic, and a global shutter and a C-type lens interface are arranged; the industrial lens (92) is a C-type interface industrial lens of Japan computer company, the model is M5018-MP2, the external dimension is 33.5mm multiplied by 38.2mm, the focal length is 50mm, and the maximum aperture ratio is 1:1.8, filter size m30.5p =0.5mm.

The flexible arm space vibration characteristic analysis device and method based on the multiple cameras comprise the following steps:

in the first step, an alternating current servo motor I (13) in a first-stage rotating unit drives a flexible big arm I (16) and a second-stage rotating unit on the flexible big arm I to rotate through a speed reducer I (14) and an I-shaped extension arm (15), an alternating current servo motor II (18) in the second-stage rotating unit drives a flexible big arm II (20) to rotate through a speed reducer II (19), and the rotating planes of the two rotating units are perpendicular to each other;

secondly, detecting corner position signals of the alternating current servo motor I (13) and the alternating current servo motor II (18) in the first step respectively by using a built-in rotary photoelectric encoder, and transmitting the corner position signals to an industrial computer (22) together for waiting for corresponding algorithm processing;

thirdly, a depth camera assembly I (9) and a depth camera assembly II (10) form a parallel binocular vision system, the space position information of the mark points on the flexible large arm I (16) and the flexible large arm II (20) is rapidly recorded, and the plane camera assembly (11) records the flexible large arm I (16), the flexible large arm II (20) and the plane information of all the mark points in the visual range of the flexible large arm I (16) and the flexible large arm II (20);

and fourthly, the industrial computer (22) applies a corresponding algorithm to process the picture mark point information obtained in the third step, combines the servo motor speed signal obtained in the second step, and then performs corresponding algorithm processing to analyze and obtain the bending vibration and torsional vibration conditions of the flexible large arm I (16) and the flexible large arm II (20) in the space.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various equivalent changes, modifications, substitutions and alterations can be made herein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A flexible arm space vibration characteristic analysis device based on a multi-camera is characterized by comprising an experiment pedestal, a speed reducer supporting seat, an alternating current servo motor I, a speed reducer I, an I-shaped extension arm, a flexible large arm I, a speed reducer support, an alternating current servo motor II, a speed reducer II and a flexible large arm II;

the speed reducer I is fixedly connected with a driving shaft of an alternating current servo motor I, the flexible big arm I is fixedly connected with the speed reducer I through the I-shaped extension arm, and the alternating current servo motor I drives the speed reducer I through a shaft so as to drive the flexible big arm I;

the speed reducer II is fixedly connected with the flexible large arm I through the speed reducer support, the alternating current servo motor II is fixedly connected with the speed reducer II, the flexible large arm II is fixedly connected with the speed reducer II, and the alternating current servo motor II drives the speed reducer II through a shaft, so that the flexible large arm II is driven to rotate;

the system also comprises a camera fixing support, an adjustable support I, an adjustable support II, a camera fast-assembling platform, a depth camera assembly I, a depth camera assembly II and a plane camera assembly;

the camera fast-assembling platform comprises an adjustable support I, a camera fast-assembling platform, a camera fixing support, a camera fast-assembling platform, a camera plane assembly and a plane camera assembly, wherein one end of the adjustable support I is fixed on the camera fixing support, the other end of the adjustable support II is fixed on the adjustable support I, the middle part of the camera fast-assembling platform is fixed at the joint between the adjustable support I and the adjustable support II, the depth camera assembly I and the depth camera assembly II are respectively arranged at two ends of the camera fast-assembling platform, and the plane camera assembly is arranged at the top end of the adjustable support II;

the camera fixing support is fixedly arranged beside the experiment pedestal, and the lens of the depth camera assembly I, the lens of the depth camera assembly II and the lens of the plane camera assembly are opposite to the experiment pedestal;

also includes an industrial computer and an encoder;

the industrial computer is connected with the encoder, the depth camera assembly I, the depth camera assembly II and the plane camera assembly, and is used for receiving and analyzing the photo information sent by the depth camera assembly I, the depth camera assembly II and the plane camera assembly, and receiving the information sent by the encoder and the processing information;

the camera fixing support adopts a tripod, and the tripod comprises 3 guide rail assemblies, 3 sliding block assemblies, 3 adjustable foot pipe components and a camera system tripod head; the guide rail assembly is fixedly connected with the bottom of the adjustable foot pipe component through the sliding block assembly, the camera system cloud deck is fixed on the top of each of the 3 adjustable foot pipe components, and the adjustable support I is fixed on the camera system cloud deck.

2. The multi-camera based flexible arm spatial vibration characteristics analysis device of claim 1, wherein said adjustable leg tube member comprises 2 ball connecting rods, a leg tube inner shaft, a leg tube locking knob, a leg tube outer sleeve and 2 leg tube side end caps; each adjustable foot pipe component can change the total length thereof by adjusting the foot pipe locking knob, the target length thereof is fixed by screwing the foot pipe locking knob, and different angle requirements of the camera system cloud deck are realized by combining different adjustable foot pipe component lengths; meanwhile, the spherical surfaces are matched with the end parts of the shaft rods in the foot tubes, the end parts of the shaft sleeves outside the foot tubes and the end covers at the side ends of the foot tubes, so that the flexibility of the sliding block tripod platform supporting system is enhanced.

3. The multi-camera-based flexible arm spatial vibration characteristic analysis device as claimed in claim 1, wherein the adjustable support i comprises a fast-assembly flange, a support shaft core i, a support locking knob i, a support shaft sleeve i and a support flange i, the fast-assembly flange fixes the support shaft core i, and the support flange i fixes the support shaft sleeve i; support axle core I spiral fixed support axle sleeve I to adjust the height of support axle core I through support locking knob I.

4. The multi-camera-based flexible arm spatial vibration characteristic analysis device as claimed in claim 1, wherein the adjustable support II comprises a quick mounting plate, a support shaft core II, a support locking knob II, a support shaft sleeve II and a support flange II, the quick mounting plate fixes the support shaft core II, and the support flange II fixes the support shaft sleeve II; and the support shaft core II is spirally fixed on the support shaft sleeve II, and the height of the support shaft core II is adjusted through the support locking knob II.

5. The analysis method of the multi-camera based flexible arm spatial vibration characteristics analysis device according to any one of claims 1 to 4, comprising the steps of: