CN109387853A - A kind of experiment particle movement parameter tracking extraction system and method - Google Patents
A kind of experiment particle movement parameter tracking extraction system and method Download PDFInfo
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- CN109387853A CN109387853A CN201710680380.1A CN201710680380A CN109387853A CN 109387853 A CN109387853 A CN 109387853A CN 201710680380 A CN201710680380 A CN 201710680380A CN 109387853 A CN109387853 A CN 109387853A
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- 230000033001 locomotion Effects 0.000 title claims abstract description 65
- 238000002474 experimental method Methods 0.000 title claims abstract description 33
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- 238000000605 extraction Methods 0.000 title claims abstract description 14
- 230000003287 optical effect Effects 0.000 claims abstract description 38
- 238000012545 processing Methods 0.000 claims abstract description 29
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/66—Tracking systems using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
Abstract
The present invention provides a kind of experiment particle movement parameter tracking extraction system and methods, which includes: optical transmitter module, for emitting light into experimental model；Light detecting module, for detecting the reflected light of the experimental model；Acquisition processing module, for acquiring and handling the reflected light signal of the smooth detecting module output, to obtain the kinematic feature factor of the experimental model.The present invention can efficiently track and record the kinematic parameter of experimental model, draw the 3 D stereo motion profile of experimental model.
Description
Technical field
The invention belongs to Geologic Structure Modelling Experiment technical fields, specifically, more particularly to a kind of experiment particle movement
Parameter tracking extraction system and method.
Background technique
Infrared object tracking technological incorporation image procossing, pattern-recognition, artificial intelligence, automatic control and computer etc.
Advanced technology in many fields can carry out effective position for target, pitching, speed motion feature determine or estimate
Survey, can be used for motion tracking scanning and object space shape and structure are scanned, with obtain object of which movement spatial position and
Coordinate.Permitted in military visual guidance, robot visual guidance, safety monitoring, traffic control, medical diagnosis and meteorologic analysis etc.
Various aspects are all widely used, and research institution both domestic and external has all carried out research extensively and profoundly in the field.
For a long time, although infrared imagery technique is applied to the spotting scaming of big target, there is significant advantage, be used for
There are some problems when tracking Small object, and initial control point position is such as required to be in close proximity to actual profile, cannot reliably track
Fast-moving target, to the characteristics of motion of target, there are many constraint conditions etc..Especially complicated atural object infrared small target in background
Tracking be INFRARED TARGETS RECOGNITION field research hotspot, difficult point is how to handle that infrared target contrast is low, can pick up
Information it is weak, feature is unstable, be easy by background interference the problems such as.
When the geological structure to nature carries out physical simulation experiment, the process for recording modelling structural experiment is general
By the way of taking pictures and recording a video, the process of its movement of analysis is then calculated by the way of artificial observation, thus qualitatively
The motion profile of research experiment model.The Partical trace parameter extraction of simulation experiment of tectonics physics is that current key technology is difficult
Topic, there are no well solve.
Currently, the movement track parameters of particle can not be acquired in real time using infrared imagery technique, especially in some complexity
Movement effect under, such as particle displacement path not instead of straight line or plane formula movement, during exercise entrainment of lifting
The curvilinear motion mode of twisting.Simulated experiment process is recorded using traditional approach, there is the constructions that can not reflect the type
Act on real process and the big defect of digitizer error.Currently, there is an urgent need to a kind of efficient tracking in construction experimental field
Record the technological means of particle movement parameter.
Summary of the invention
When to solve the Partical trace parameter extraction of simulation experiment of tectonics physics in the prior art, there is can not reflect
The big problem of the tectonism real process and digitizer error of the type, the present invention provides a kind of experiment particle movement parameters
Track and extract system and method.
According to an aspect of the invention, there is provided a kind of experiment particle movement parameter tracking extraction system, comprising:
Optical transmitter module, for emitting light into experimental model；
Light detecting module, for detecting the reflected light of the experimental model；
Acquisition processing module, for acquiring and handling the reflected light signal of the smooth detecting module output, described in obtaining
The kinematic feature factor of experimental model.
According to one embodiment of present invention, the presumptive area of the outer surface of the experimental model is provided with reflecting sign
Point, for reflecting the transmitting light from the optical transmitter module.
According to one embodiment of present invention, the optical transmitter module is for emitting infrared light.
According to one embodiment of present invention, the optical transmitter module emits infrared light using LED.
According to one embodiment of present invention, further include 3 D stereo into module, the 3 D stereo at module with
The acquisition processing module connection, the three-dimensional for describing experiment particle according to the kinematic feature factor of the experimental model are vertical
Body motion profile.
It according to one embodiment of present invention, further include motion tracking control module, for controlling the optical transmitter module
Light emitting direction and the smooth detecting module light detect direction.
According to one embodiment of present invention, further include that deformation force applies module, become for applying to the experimental model
Shape power, so that the experimental model deforms.
According to one embodiment of present invention, further include control module, detected respectively with the optical transmitter module, the light
Module, the acquisition processing module, the 3 D stereo are applied at module, the motion tracking control module and the deformation force
Module is added to connect.
According to one embodiment of present invention, the kinematic feature factor includes that the 3 D stereo of the reflecting sign point is sat
Mark parameter.
According to another aspect of the present invention, a kind of experiment particle movement parameter tracking extracting method is additionally provided, comprising:
Optical transmitter module is based on setting time interval and emits infrared light to experimental model, while applying to the experimental model
Deformation force is so that experimental model deforms；
Light detecting module detects the reflected light of reflecting sign point on the experimental model；
Acquisition processing module acquires and handles the reflected light signal of the smooth detecting module output, to obtain experimental model
Kinematic feature factor.
Beneficial effects of the present invention:
The invention proposes the experiment particle movement parameters comprising optical transmitter module, light detecting module, acquisition processing module
Track and extract system and corresponding method, contrast is low, is easy the experimental model being disturbed for tracking, and efficiently tracks and records
The kinematic parameter of experimental model draws the 3 D stereo motion profile of experimental model.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.Objectives and other advantages of the present invention can be by specification, right
Specifically noted structure is achieved and obtained in claim and attached drawing.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, required in being described below to embodiment
Attached drawing does simple introduction:
Fig. 1 is experiment particle movement parameter tracking extraction system block diagram according to an embodiment of the invention；
Fig. 2 is experiment particle movement parameter tracking extracting method flow chart according to an embodiment of the invention.
Specific embodiment
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and examples, how to apply to the present invention whereby
Technological means solves technical problem, and the realization process for reaching technical effect can fully understand and implement.It needs to illustrate
As long as not constituting conflict, each feature in each embodiment and each embodiment in the present invention can be combined with each other,
It is within the scope of the present invention to be formed by technical solution.
Fig. 1 is experiment particle movement parameter tracking extraction system block diagram according to an embodiment of the invention, below with reference to
Fig. 1 is next, and the present invention is described in detail.
The experiment particle movement parameter tracking extraction system includes at optical transmitter module 110, light detecting module 120 and acquisition
Manage module 130.Wherein, optical transmitter module 110 is for emitting light into experimental model.Light detecting module 120 is for detecting experiment mould
The reflected light of type.Acquisition processing module 130 is connect with light detecting module 120, is exported for acquiring and handling light detecting module 120
Reflected light signal, to obtain the kinematic feature factor of experimental model.
The experiment particle that the present invention is made up of optical transmitter module 110, light detecting module 120 and acquisition processing module 130
Tracking of motion parameters extraction system can be precisely accomplished the reproduction of experimental model motion profile.The present invention overcomes traditional approach notes
Record simulated experiment can not reflect compound movement tectonism real process and the big defect of digitizer error, realize efficiently with
Track experimental model simultaneously records its kinematic parameter, and then determines experimental model motion profile.
In one embodiment of the invention, the different parts of the experimental model outer surface are provided with reflecting sign point, use
Emit light in reflection.Specifically, the outer surface due to experimental model to be studied may not have light-reflecting property, although tool
There is light-reflecting property, it is likely that the light beam emitted from optical transmitter module 110 can be absorbed, causes light detecting module 120 can not
Detect the reflected light of experimental model.It, can be in order to ensure the reflected light of experimental model can be detected by light detecting module 120
Reflecting sign point is set at the different parts of the outer surface of experimental model, which, can reflected light as visual object
Transmitting module 110 emits to the light on experimental model.
The reflecting sign point is distributed in the outer surface of experimental model, is made of graininess reflectorized material as visual object,
It is reflected away for optical transmitter module 110 to be exposed to light thereon.Area, setting position and the quantity of reflecting sign point can
Influence the reflecting effect of light.
Specifically, the area of reflecting sign point will affect the effect of its reflection.With by reflecting sign point be provided in round for
Example is illustrated, then the area of the reflecting sign point and its radius are positively correlated, if the radius of reflecting sign point is too small, cannot be incited somebody to action
Light is reflected away and is detected by light detecting module 120.If the radius of reflecting sign point is too big, the small movement rail of experimental model
The light that mark cannot be reflected by light namely optical transmitter module 110 emits is radiated at the reflecting sign point of experimental model
On, the distance run in the experimental model unit time is short.For light detecting module 120, the reflected light received does not become
Change, cannot accurately reflect experimental model motion conditions.Under normal conditions, the radius minimum of the reflecting sign point of experimental model can
1mm is selected, specific radius value can select according to the actual situation.Secondly, the setting position of reflecting sign point will affect it instead
Penetrate effect.The reflecting sign point of the outer surface of experimental model is generally arranged at the region for being able to reflect experimental model motion change,
And some reflecting sign points being set the region for being able to reflect experimental model motion change more.It is able to reflect experimental model movement
The region of variation is determined according to specific geological structure situation.Again, the setting quantity of reflecting sign point also will affect its reflection
Effect.The fewer the setting quantity of reflecting sign point neither the better, nor The more the better, if the setting quantity of reflecting sign point
Very few, then light detecting module 120 cannot be detected to obtain the reflected light of visual object on enough experimental models, and then cannot obtain
Enough to the experimental model kinematic feature factor of precision.If the setting quantity of reflecting sign point is excessive, higher precision is needed
Light detecting module 120 identifies the reflected light of visual object.It is also desirable to improve the data processing of acquisition processing module 130
Ability copes with huge data, this can greatly increase cost of goods manufactured.Therefore, the setting quantity of reflecting sign point should fit
In.During the experiment, the setting quantity needs of reflecting sign point are determined according to the size and shape of experimental model, are counted
It is in the round visibility region of 30cm that amount, which can refer to the diameter on experimental model, and the quantity of reflecting sign point is set as 100.
In one embodiment of the invention, the optical transmitter module 110 is for emitting infrared light.Infrared light wave-length coverage is
760nm~106Nm, wavelength are greater than visible light.Compared with visible light, infrared light has good penetration capacity, it is not easy to by
To external interference, stability is strong.Therefore, the present invention selects infrared light as transmitting light.But it as the case may be, can also select
Other light, the invention is not limited thereto.Optical transmitter module 110 emits infrared light to experimental model, the outer surface of experimental model it is anti-
Light index point reflects infrared light.The infrared light of the capture reflecting sign point reflection of light detecting module 120.Acquisition processing module
130 acquire and handle the infrared light that light detecting module 120 captures, to obtain the kinematic feature factor of experimental model.
In one embodiment of the invention, which emits infrared light using LED (light emitting diode).
LED light emitting device is small in size, low in energy consumption, directive property is good, and therefore, optical transmitter module 110 of the invention selects LED infrared to emit
Light.
In one embodiment of the invention, the experiment particle movement parameter tracking extraction system further include 3 D stereo at
Module, the 3 D stereo are connect at module with acquisition processing module, for the kinematic feature factor structure according to experimental model
The 3 D stereo motion profile of experimental model is made, as shown in Figure 1.LED in optical transmitter module 110 emits infrared light.This is infrared
It is captured after the reflecting sign point reflection of outer surface of the light through experimental model by light detecting module 120.Acquisition processing module 130 will
It is screened after the infrared light digitized processing that light detecting module 120 captures, i.e. the big parameter of deletion error, rejecting has the flaw
The data of defect obtain more accurate experimental model kinematic feature factor.3 D stereo is at module 140 according to acquisition process mould
The kinematic feature factor for the experimental model that block 130 provides, draws the 3 D stereo motion profile of experimental model.
In one embodiment of the invention, which further includes motion tracking control
The light of molding block, the light emitting direction and light detecting module 120 that are used to control optical transmitter module 110 captures direction.Specifically
, the light emission that optical transmitter module 110 emits is to the reflecting sign point of the outer surface of experimental model, and the reflecting sign point is by light emitting
The light that module 110 emits carries out reflection and is obtained by the detecting of light detecting module 120.Motion tracking control module is according to light emitting mould
Angle α where the light that block 110 emits and reflecting sign point between plane, calculates incident angle β=90 °-α.It is reflected according to light former
It manages, then angle of reflection γ=β=90 °-α.Motion tracking control module adjusts in time according to the light emitting direction of optical transmitter module 110
The direction of light detecting module 120, so that the reflection luminous energy of experimental model is captured by light detecting module 120.
In one embodiment of the invention, which includes that deformation force applies mould
Block is used to apply deformation force to experimental model, so that experimental model deforms.Specifically, the deformation force applies module
Servo motor and transmission device including being set to experimental model two sides.Wherein, one is each provided at the both ends of experimental model
Servo motor.Voltage needed for applying to servo motor is so that it is rotated.It is by transmission device hinge and gear that servo is electric
The rotary force of machine converts reverse linear pulling force in a pair.Experimental model deforms due to by the linear pulling force, which can
It is deformed for geological structure simulation.Because architectonic deformation is a very long process, simulated experiment process is also very
Slowly.Rotation speed by controlling servo motor can control experimental model deformation velocity.Pass through control servo motor output
The deformation force size that the adjustable experimental model of driving force size is subject to.In general, servo motor is to reality according to practical geological condition
The deformation force range of model application is tested between 100N-2000N.
In one embodiment of the invention, which further includes control module
170, respectively with optical transmitter module 110, light detecting module 120, acquisition processing module 130,3 D stereo at module 140,
Motion tracking control module 150 and deformation force apply module 160 and connect.Specifically, control module 170 is in experiment particle movement ginseng
Play the role of in number track and extract systems it is neural, for controlling optical transmitter module 110, light detecting module 120, at acquisition
It manages module 130,3 D stereo and applies module 160 in setting at module 140, motion tracking control module 150 and deformation force
Time point completes required movement according to preset rules.
Emit specifically, control module 170 controls optical transmitter module 110 to the reflecting sign point of the outer surface of experimental model
Infrared light.Control module 170 controls between motion tracking control module adjustment optical transmitter module 110 and light detecting module 120
Angular relationship.Control module controls the capture of light detecting module 120 from the infrared light of reflecting sign point reflection.Control module control
Deformation force processed applies module and applies linear pulling force so that experimental model deforms to experimental model.Control module control is adopted
Collection processing module 130 is by the infrared light digitized processing that light detecting module 120 captures and screening obtains the movement of experimental model
Characteristic parameter.The fortune for the experimental model that control module control 3 D stereo is provided at module 140 according to acquisition processing module 13
Dynamic characteristic parameter, draws the 3 D stereo motion profile of experimental model.
Control module 170 control optical transmitter module 11, light detecting module 120, acquisition processing module 130,3 D stereo at
Module 140, motion tracking control module 150 and deformation force apply module 160, realize transmitting module 110, light detecting module
120, acquisition processing module 130,3 D stereo apply module at module 140, motion tracking control module 150 and deformation force
Close fit between 160, so that experimental model motion profile accurately reproduces.
In one embodiment of the invention, which includes the 3 D stereo coordinate ginseng of reflecting sign point
Number.Specifically, optical transmitter module 110 emits infrared light, which generates transmitting light through reflecting sign point reflection.The reflection
Light is captured by light detecting module 120, includes two technical grade CCD cameras in light detecting module 120, and surface sweeping filming frequency is
30HZ, measurement accuracy are 0.05mm.Two technical grade CCD cameras receive the infrared phototiming that light detecting module 120 captures,
Generate the stereopsis of reflecting sign point.Later, acquired processing module analysis processing obtains the three-dimensional of reflecting sign point and sits
Mark.
According to another aspect of the present invention, a kind of experiment particle movement parameter tracking extracting method, such as Fig. 2 are additionally provided
Shown is experiment particle movement parameter tracking extracting method flow chart according to an embodiment of the invention, is come below with reference to Fig. 2
This method is described in detail.
Specifically, firstly, in step s310, optical transmitter module 110 is based on setting time interval and emits to experimental model
Infrared light, while applying deformation force so that experimental model deforms to experimental model.
Then, in step s 320, light detecting module 120 detects the transmitting light of reflecting sign point reflection on experimental model.
In this step, motion tracking control module 150 adjusts optical transmitter module according to the position of reflecting sign point on experimental model
Angular relationship between 110 and light detecting module 120, so that light detecting module 120 preferably receives the anti-of reflecting sign point
Penetrate light.
Then, in step S330, acquisition processing module 130 acquires and handles the reflected light letter of light detecting module output
Number, to obtain the kinematic feature factor of experimental model.
Finally, in step S340, experiment mould that 3 D stereo is provided at module 140 according to acquisition processing module 130
The kinematic feature factor of type draws the 3 D stereo motion profile of experimental model.
The invention proposes comprising optical transmitter module 110, light detecting module 120, acquisition processing module 130 experiment particle
Tracking of motion parameters extraction system, contrast is low, is easy the experimental model being disturbed for tracking, can efficient tracking test mould
Type simultaneously records kinematic parameter, and then draws experimental model motion profile.
While it is disclosed that embodiment it is as above, but content only to facilitate understand the present invention and use
Embodiment is not intended to limit the invention.Any those skilled in the art to which this invention pertains are not departing from the present invention
Under the premise of disclosed spirit and scope, any modification and change can be made in the implementing form and in details, but this
The scope of patent protection of invention, still should be subject to the scope of the claims as defined in the appended claims.
Claims (10)
1. a kind of experiment particle movement parameter tracking extraction system, comprising:
Optical transmitter module, for emitting light into experimental model；
Light detecting module, for detecting the reflected light of the experimental model；
Acquisition processing module, for acquiring and handling the reflected light signal of the smooth detecting module output, to obtain the experiment
The kinematic feature factor of model.
2. system according to claim 1, which is characterized in that the presumptive area of the outer surface of the experimental model is provided with
Reflecting sign point, for reflecting the transmitting light from the optical transmitter module.
3. system according to claim 1, which is characterized in that the optical transmitter module is for emitting infrared light.
4. system according to claim 3, which is characterized in that the optical transmitter module emits infrared light using LED.
5. system described in any one of -4 according to claim 1, which is characterized in that further include 3 D stereo into module, institute
State 3 D stereo and connect at module with the acquisition processing module, for according to the kinematic feature factor of the experimental model come
The 3 D stereo motion profile of description experiment particle.
6. system according to claim 5, which is characterized in that it further include motion tracking control module, it is described for controlling
The light of the light emitting direction of optical transmitter module and the smooth detecting module detects direction.
7. system according to claim 6, which is characterized in that further include that deformation force applies module, be used for the experiment
Model applies deformation force, so that the experimental model deforms.
8. system according to claim 7, which is characterized in that further include control module, respectively with the optical transmitter module,
The smooth detecting module, the acquisition processing module, the 3 D stereo are at module, the motion tracking control module and institute
It states deformation force and applies module connection.
9. system according to claim 2, which is characterized in that the kinematic feature factor includes the reflecting sign point
3 D stereo coordinate parameters.
10. a kind of experiment particle movement parameter tracking extracting method, comprising:
Optical transmitter module is based on setting time interval and emits infrared light to experimental model, while applying to the experimental model and deforming
Power is so that experimental model deforms；
Light detecting module detects the reflected light of reflecting sign point on the experimental model；
Acquisition processing module acquires and handles the reflected light signal of the smooth detecting module output, to obtain the movement of experimental model
Characteristic parameter.
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| CN102721824A (en) * | 2012-06-27 | 2012-10-10 | 中国科学院力学研究所 | Method and device for measuring particle velocity with low velocity and high acceleration characteristics |
| CN102840825A (en) * | 2012-08-21 | 2012-12-26 | 华北电力大学 | Particle locating system and method |
| US20150008260A1 (en) * | 2012-07-09 | 2015-01-08 | Torrey Pines Logic, Inc. | Crosswind speed measurement by optical measurement of scintillation |
| CN104952345A (en) * | 2014-03-31 | 2015-09-30 | 中国石油化工股份有限公司 | Strike-slip structure physical simulation experiment device and operation method thereof |
-
2017
- 2017-08-10 CN CN201710680380.1A patent/CN109387853A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102721824A (en) * | 2012-06-27 | 2012-10-10 | 中国科学院力学研究所 | Method and device for measuring particle velocity with low velocity and high acceleration characteristics |
| US20150008260A1 (en) * | 2012-07-09 | 2015-01-08 | Torrey Pines Logic, Inc. | Crosswind speed measurement by optical measurement of scintillation |
| CN102840825A (en) * | 2012-08-21 | 2012-12-26 | 华北电力大学 | Particle locating system and method |
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Application publication date: 20190226 |
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| RJ01 | Rejection of invention patent application after publication |