CN109270289B - Speed testing system and testing method - Google Patents
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- CN109270289B CN109270289B CN201811147193.8A CN201811147193A CN109270289B CN 109270289 B CN109270289 B CN 109270289B CN 201811147193 A CN201811147193 A CN 201811147193A CN 109270289 B CN109270289 B CN 109270289B
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- 238000012360 testing method Methods 0.000 title claims abstract description 48
- 238000000034 method Methods 0.000 claims abstract description 11
- 238000005259 measurement Methods 0.000 claims abstract description 7
- 238000004364 calculation method Methods 0.000 claims description 16
- 238000003384 imaging method Methods 0.000 claims description 10
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance
- G01P3/68—Devices characterised by the determination of the time taken to traverse a fixed distance using optical means, i.e. using infrared, visible, or ultraviolet light
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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Abstract
The invention relates to the technical field of speed measurement, in particular to a speed test system and a test method, wherein the speed test system comprises a marking module for marking a target object, an acquisition module for acquiring an image of the target object and recording the acquisition time of the image, a speed module for calculating the speed of the target object when the target object moves, and an output module for outputting a result; the marking module comprises a fixing piece used for being connected with a target object, a luminous tube arranged on the fixing piece and a driving circuit used for driving the luminous tube to emit light, and the collecting module is provided with a band-pass filter. The speed testing system and the speed testing method provided by the invention adopt a non-contact direct speed testing method, avoid the defects of visual estimation or a tape stopwatch and other testing methods, automatically calculate the required speed information after obtaining the image information of the target object, effectively improve the testing accuracy, and have high efficiency and convenience in the testing process.
Description
Technical Field
The invention relates to the technical field of speed measurement, in particular to a speed testing system and a speed testing method.
Background
According to the 'safety supervision regulations of hoisting machinery', the safety technical rules and the national standards of special equipment, main parameters such as the hoisting speed of a crane, the running speed of a cart and a trolley and the like are monitored and measured, and the speed is an important index for judging whether the hoisting machinery is transformed or not and for major maintenance.
The existing bridge door type hoisting machinery has large number of in-use and newly-installed hoisting machinery, when the factory leaves a factory, the unit is used for self-checking or a third party detects the hoisting speed and the speed of a trolley, the hoisting speed and the speed of the trolley are usually determined according to nameplate data, visual estimation, a simple stopwatch, a measuring tape and the like, the obtained result is inaccurate, and the detection method is not scientific or low in efficiency. Therefore, the lack of the lifting machinery detecting instrument and the low efficiency of the detecting mode can not effectively improve the quality and efficiency of the enterprise inspection detection, and delay the development of the lifting machinery detecting speed technology.
Disclosure of Invention
The invention provides a speed testing system and a speed testing method aiming at the problems in the prior art, which can efficiently and conveniently test speed and have accurate testing results.
In order to solve the technical problems, the invention adopts the following technical scheme: a speed test system comprises a marking module for marking a target object, an acquisition module for acquiring an image of the target object and recording the acquisition time of the image, a speed module for calculating the speed of the target object when moving, and an output module for outputting the result; the marking module comprises a fixing piece used for being connected with a target object, a luminous tube arranged on the fixing piece and a driving circuit used for driving the luminous tube to emit light, and the collecting module is provided with a band-pass filter.
Further, the speed module comprises a distance measuring device for measuring the distance between the target object and the acquisition module, a position calculating module for calculating the real position of the target object relative to the acquisition module, and a speed calculating module for calculating the speed by combining the obtained real position information with the time information.
Further, the speed module is provided with an identification module for identifying a light spot on an image of the movement of the target object.
Further, the identification module is provided with a center searching module for searching the center position of the light spot.
Further, the acquisition module comprises an image acquisition device for acquiring an image of the target object and a time recording device for recording the moment of acquiring the image, and the band-pass filter is arranged on the image acquisition device.
Further, the output module comprises a recording module for recording speed data and a display interface for displaying the data.
A speed testing method comprising the steps of:
a. mounting a marking module for emitting light on a target object and measuring the distance between the target object and a measuring point;
b. Starting an acquisition module, and acquiring an image of a target object during action and the time for acquiring the image;
c. the speed module acquires the image and time information of the acquisition module, and the recognition module recognizes the light spots in the image;
d. the position calculation module calculates the actual position information of the target object according to the image and the light spot information;
f. The speed calculation module calculates the speed information of the target object according to different position information of the target object at different times.
Further, after the recognition module recognizes the light spot in the image in the step c, the center of gravity method is used to find the center position of the light spot.
Further, in the step d, the position calculating module calculates the real object position of the target object according to the calibration coefficient.
Further, after the speed information in the step d is calculated, the output module outputs the speed data and draws a speed change curve.
The invention has the beneficial effects that:
According to the speed test system and the speed test method, the marking module with the luminous tube is arranged on the target object, the band-pass filter is arranged on the image acquisition device, when the image acquisition device acquires the image of the target object, the light on the target object can just pass through the band-pass filter, and other stray light can not pass through the band-pass filter, so that the imaging of the camera has excellent identification characteristics, the later processing process becomes simple and efficient, the real position information of the target object is automatically calculated through the speed module after the identification module identifies the light spot in the image, and the speeds of different time points of the target object can be calculated by matching with the time for acquiring the image; the speed measuring system and the testing method adopt a non-contact direct speed testing method, avoid the defects of visual estimation or testing methods such as a tape stopwatch, and the like, automatically calculate the required speed information after the image information of the target object is acquired, effectively improve the testing accuracy, and have high efficiency and convenience in the testing process.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic diagram of the system of the present invention.
The reference numerals in fig. 1 to 2 include:
The device comprises a 1-marking module, a 11-luminous tube, a 12-driving circuit, a 13-fixing piece, a 2-acquisition module, a 21-band-pass filter, a 22-image acquisition device, a 23-time recording device, a 3-speed module, a 31-distance measuring device, a 32-position calculating module, a 33-speed calculating module, a 34-identification module, a 35-center searching module, a 4-output module, a 41-display interface and a 42-recording module.
Detailed Description
The invention will be further described with reference to examples and drawings, to which reference is made, but which are not intended to limit the scope of the invention. The present invention will be described in detail below with reference to the accompanying drawings.
The speed test system provided in this embodiment, as shown in fig. 1 and 2, includes a marking module 1 for marking a target object, an acquisition module 2 for acquiring an image of the target object and recording an acquisition time of the image, a speed module 3 for calculating a speed of the target object when moving, and an output module 4 for outputting speed data; the marking module 1 comprises a fixing piece 13 for connecting a target object, a luminous tube 11 arranged on the fixing piece 13 and a driving circuit 12 for driving the luminous tube 11 to emit light, and the collecting module 2 is provided with a band-pass filter 21. Specifically, the fixing member 13 may be any article that can fix the marking module 1 to the target object, such as a magnet, or the like; the light emitted by the light-emitting tube 11 can be blue light, red light or yellow light, when the light-emitting tube 11 emits blue light, the collecting module 2 is provided with a blue band-pass filter 21, and similarly, when the light-emitting tube 11 emits light of other colors, the band-pass filter 21 corresponds to the band-pass filter 21 of the corresponding color; when the speed of a target object is measured, the marking module 1 is firstly arranged on the target object through the fixing piece 13, the driving module 12 drives the luminous tube 11 on the marking module 1 to emit light, when the target object acts, the acquisition module 2 acquires the image information of the target object at different time points, the light points corresponding to the positions of the luminous tube 11 appear on the image information, the subsequent processing of the images by the speed module 3 is facilitated, the speed module 3 calculates the position corresponding to each image according to the image information at each time point, the speed of the target object can be calculated by combining the acquisition time of each image, and finally the output module 4 outputs the speed data of the result. The speed measuring system adopts a non-contact direct speed testing method, avoids the defects of visual estimation or testing methods such as a tape stopwatch, and the like, can automatically calculate the required speed information after obtaining the image information of a target object, effectively improves the testing accuracy, and has high efficiency and convenience in the testing process.
In the speed testing system provided in this embodiment, as shown in fig. 1 and 2, the speed module 3 includes a distance measuring device 31 for measuring a distance between the target object and the acquisition module 2, a position calculating module 32 for calculating a real position of the target object relative to the acquisition module 2, and a speed calculating module 33 for calculating a speed by combining the obtained real position information with time information. Preferably, the distance measuring device 31 may be any device that can measure distance or determine three-dimensional coordinates in space, such as a laser range finder or a total station. Specifically, the distance between the target object and the acquisition module 2 is measured by the distance measuring device 31, after the image information of the target object is acquired, the position calculating module 32 combines the image information and the measured distance between the target object and the acquisition module 2 to calculate the real position information of the target object, and then the speed calculating module 33 combines the acquisition time of each image information and the real position information of the target object calculated at each time point to calculate the final speed; the speed module 3 can automatically calculate the speed, so that manpower is saved, and the speed measuring process is more efficient and accurate.
In the speed testing system provided in this embodiment, as shown in fig. 1 and 2, the speed module 3 is provided with an identification module 34 for identifying a light spot on an image of a moving target object. Specifically, after the image information of different time points of the target object is obtained, the bandpass filter 21 on the acquisition module 2 can only pass the light of the color emitted by the luminous tube 11 on the target object, so that a light spot exists on the obtained image, and the recognition module 34 of the speed module 3 recognizes the light spot in the image, so that the subsequent speed calculation is facilitated; the recognition module 34 makes the processing of the image simpler.
In one speed testing system provided in this embodiment, as shown in fig. 2, the identification module 34 is provided with a center searching module 35 for searching for the center position of the light spot. Specifically, the light spot on the image is still of a certain size, and the center searching module 35 is set to find the center point of the light spot so that the subsequent calculation is more accurate, and the center searching module 35 calculates the center position of the searched light spot by adopting a common gravity center method.
In the speed testing system provided in this embodiment, as shown in fig. 1 and 2, the acquisition module 2 includes an image acquisition device 22 for acquiring an image of a target object and a time recording device 23 for recording a time of acquiring the image, and the band-pass filter 21 is disposed on the image acquisition device 22. Specifically, the image acquisition device 22 acquires the image information of the target object, and the time recording device 23 records the time of image acquisition, so that the image and the time information can be conveniently transmitted to the speed module 3 for analysis and calculation.
In the speed testing system provided in this embodiment, as shown in fig. 1 and fig. 2, the output module 4 includes a recording module 42 for recording speed data and a display interface 41 for displaying the data. Specifically, after the speed calculation of the target object is completed, all data are stored and drawn into a speed change curve by the recording module 42 of the output module 4, and the speed change curve is displayed by the display interface 41 for being observed by people.
The speed testing method provided by the embodiment comprises the following steps:
a. a marking module 1 for emitting light is arranged on the target object and the distance between the target object and a measuring point is measured;
b. Starting an acquisition module 2, acquiring an image of a target object during motion and acquiring time of the image;
c. the speed module 3 acquires the image and time information of the acquisition module 2, and the recognition module 34 recognizes the light spots in the image;
d. The position calculation module 32 calculates the actual position information of the target object according to the image and the light spot information;
f. The velocity calculation module 33 calculates velocity information of the target object based on different position information of the target object at different times.
Specifically, in step a, the marking module 1 is fixed on the target object by the fixing member 13, the light emitting tube 11 is driven by the driving circuit 12 to emit light, then the distance between the target object and the measuring point, i.e. the image acquisition device 22, is measured by the distance measuring device 31 and the measured data is transmitted to the speed module for calculation; in step b, after the target object starts to act, the image acquisition device 22 acquires the image information of the target object at fixed time, the time recording device 23 records the time of acquiring each image information, and the acquired image information and the time information are transmitted to the speed module; in step c, the bandpass filter 21 on the image acquisition device 22 can only pass through the light of the luminous tube 11 on the marking module 1, so that an obvious light spot exists on the acquired image and is identified by the identification module 34; in step d, the position module 32 calculates according to the obtained information of the light spot and the distance data between the target object and the measuring point, so as to obtain the actual position information of the target object, such as the height of the target object; in step f, taking the height as an example, the real height of the target object in each acquired image is calculated, and then the speed of the target object can be calculated by combining the time of each acquired image.
In the speed testing method provided in this embodiment, after the recognition module 34 recognizes the light spot in the image in step c, the center position of the light spot is found by adopting the gravity center method. Specifically, the light spot on the image has a certain size, and the center point of the light spot can be quickly found out by adopting a gravity center method, so that the position of the target object is more accurately calculated later.
In the speed testing method provided in the present embodiment, in step d, the position calculating module 32 calculates the real object position of the target object according to the calibration coefficient. Specifically, the calculation method is as follows:
According to the imaging law of the lens, 1/u+1/v=1/f, namely: the sum of the reciprocal of the object distance and the reciprocal of the image distance is equal to the reciprocal of the focal length. And meanwhile, the focal length f and the image distance v of the lens are designed according to the working distance range L between the designed and measured target object and the acquisition module 2. The distance L from the measurement point, i.e. the acquisition module 2, to the target object, i.e. the object distance u, can be measured during the measurement by using the distance measuring device 31, and the proportionality coefficient r=v/u between the real object and the imaging can be calculated. Therefore, the coordinates Py of the target object are resolved from the image, and the camera imaging point P0 can be calculated to obtain the true height h= (Py-P0)/R through the relationship of the scaling coefficients.
The image acquisition device 22 can calculate a true position while capturing each image of the target object, and also record the time of the measurement moment. A time-position sequence is formed.
t0,H0；t1,H1；…；tn,Hn…
Calculating the difference to obtain a speed signal:
△t0＝t1–t0,△H0＝H1–H0，V0＝△H0/△t0；
△t1＝t2–t1,△H1＝H2–H1，V1＝△H1/△t1；
…
△tn＝tn+1–tn,△Hn＝Hn+1–Hn，Vn＝△Hn/△tn；
From this velocity sequence information can be obtained: v0, V1, V2..vn.
In the speed testing method provided by the embodiment, in the step d, after speed information is calculated, the output module 4 outputs speed data and draws a speed change curve. In particular, drawing a speed change curve can more intuitively represent the speed change of the target object.
The present invention is not limited to the preferred embodiments, but is intended to be limited to the following description, and any modifications, equivalent changes and variations in light of the above-described embodiments will be apparent to those skilled in the art without departing from the scope of the present invention.
Claims (8)
1. A speed testing system, characterized by: comprises a marking module (1) for marking a target object, an acquisition module (2) for acquiring an image of the target object and recording the acquisition time of the image, a speed module (3) for calculating the speed of the target object when moving, and an output module (4) for outputting speed data; the marking module (1) comprises a fixing piece (13) for connecting a target object, a luminous tube (11) arranged on the fixing piece (13) and a driving circuit (12) for driving the luminous tube (11) to emit light, and the collecting module (2) is provided with a band-pass filter (21);
The speed module (3) comprises a distance measuring device (31) for measuring the distance between the target object and the acquisition module (2), a position calculating module (32) for calculating the real position of the target object relative to the acquisition module (2), and a speed calculating module (33) for calculating the speed by combining the obtained real position information with time information;
the position calculation module (32) calculates the real object position of the target object according to the calibration coefficient; the calculation method comprises the following steps:
According to the imaging law of the lens, 1/u+1/v=1/f, namely: the sum of the reciprocal of the object distance and the reciprocal of the image distance is equal to the reciprocal of the focal length; meanwhile, according to the working distance range L between the designed and measured target object and the acquisition module 2, the focal length f and the image distance v of the lens are designed; in the measurement, a distance measuring device (31) is used for measuring the distance L between a measuring point, namely the acquisition module (2), and a target object, namely the object distance u, so that a proportionality coefficient R=v/u between a real object and imaging can be calculated; therefore, the coordinates Py of the target object are resolved from the image, and the camera imaging point P0 can be calculated to obtain the true height h= (Py-P0)/R through the relation of the proportionality coefficients;
The image acquisition device (22) calculates a real position when capturing each target object image, and records the time of the measuring moment; a time-position sequence is formed;
t0,H0；t1,H1；…；tn,Hn…
calculating the difference to obtain a speed signal:
△t0＝t1–t0,△H0＝H1–H0，V0＝△H0/△t0；
△t1＝t2–t1,△H1＝H2–H1，V1＝△H1/△t1；
…
△tn＝tn+1–tn,△Hn＝Hn+1–Hn，Vn＝△Hn/△tn；
From this velocity sequence information can be obtained: v0, V1, V2..vn.
2. A speed testing system according to claim 1, wherein: the speed module (3) is provided with an identification module (34) for identifying the light spot on the image of the movement of the target object.
3. A speed testing system according to claim 2, wherein: the identification module (34) is provided with a center finding module (35) for finding the center position of the light spot.
4. A speed testing system according to claim 1, wherein: the acquisition module (2) comprises an image acquisition device (22) for acquiring an image of a target object and a time recording device (23) for recording the moment of acquiring the image, and the band-pass filter (21) is arranged on the image acquisition device (22).
5. A speed testing system according to claim 1, wherein: the output module (4) comprises a recording module (42) for recording speed data and a display interface (41) for displaying the data.
6. A speed testing method, characterized in that: the method comprises the following steps:
a. a marking module (1) for emitting light is arranged on the target object and the distance between the target object and a measuring point is measured;
b. starting an acquisition module (2), and acquiring an image of a target object during action and the time for acquiring the image;
c. the speed module (3) acquires the image and time information of the acquisition module (2), and the recognition module recognizes the light spot in the image;
d. A position calculation module (32) calculates actual position information of the target object according to the image and the light spot information;
f. A speed calculation module (33) calculates the speed information of the target object according to different position information of the target object at different times;
the position calculation module (32) calculates the real object position of the target object according to the calibration coefficient; the calculation method comprises the following steps:
According to the imaging law of the lens, 1/u+1/v=1/f, namely: the sum of the reciprocal of the object distance and the reciprocal of the image distance is equal to the reciprocal of the focal length; meanwhile, according to the working distance range L between the designed and measured target object and the acquisition module 2, the focal length f and the image distance v of the lens are designed; in the measurement, a distance measuring device (31) is used for measuring the distance L between a measuring point, namely the acquisition module (2), and a target object, namely the object distance u, so that a proportionality coefficient R=v/u between a real object and imaging can be calculated; therefore, the coordinates Py of the target object are resolved from the image, and the camera imaging point P0 can be calculated to obtain the true height h= (Py-P0)/R through the relation of the proportionality coefficients;
The image acquisition device (22) calculates a real position when capturing each target object image, and records the time of the measuring moment; a time-position sequence is formed;
t0,H0；t1,H1；…；tn,Hn…
calculating the difference to obtain a speed signal:
△t0＝t1–t0,△H0＝H1–H0，V0＝△H0/△t0；
△t1＝t2–t1,△H1＝H2–H1，V1＝△H1/△t1；
…
△tn＝tn+1–tn,△Hn＝Hn+1–Hn，Vn＝△Hn/△tn；
From this velocity sequence information can be obtained: v0, V1, V2..vn.
7. A speed testing method according to claim 6, wherein: and c, after the recognition module recognizes the light spot in the image, finding the center position of the light spot by adopting a gravity center method.
8. A speed testing method according to claim 6, wherein: and d, outputting speed data by an output module (4) after calculating the speed information in the step and drawing a speed change curve.
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| CN110068284B (en) * | 2019-05-20 | 2020-10-30 | 北京建筑大学 | Method for monitoring tower crane by using high-speed photogrammetry technology |
| CN113484172A (en) * | 2021-07-14 | 2021-10-08 | 中国烟草总公司郑州烟草研究院 | Method for measuring pressing speed of cigarette and filter stick hardness detection equipment |
| CN115372651B (en) * | 2022-08-22 | 2024-03-29 | 中国空气动力研究与发展中心超高速空气动力研究所 | Method for measuring object separation speed in signal interruption mode |
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| JP6318252B2 (en) * | 2014-07-30 | 2018-04-25 | 株式会社日立製作所 | Optical speed measuring device and moving body |
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| US4834070A (en) * | 1987-09-30 | 1989-05-30 | Kabushiki Kaisha Toshiba | Endoscope with device for shape recognition |
| JP2003084004A (en) * | 2001-09-13 | 2003-03-19 | Japan Radio Co Ltd | Speed detector |
| JP2006138804A (en) * | 2004-11-15 | 2006-06-01 | Nissan Motor Co Ltd | Method and apparatus for detecting speed of mobile object |
| CN205679758U (en) * | 2016-06-08 | 2016-11-09 | 武汉湾流科技股份有限公司 | A kind of positioning label |
| CN208872768U (en) * | 2018-09-29 | 2019-05-17 | 广东省特种设备检测研究院东莞检测院 | A kind of speed testing system |
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