CN110285753A - Marine floating type works basin test model large space optical motion measurement method - Google Patents
Marine floating type works basin test model large space optical motion measurement method Download PDFInfo
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- CN110285753A CN110285753A CN201910554031.4A CN201910554031A CN110285753A CN 110285753 A CN110285753 A CN 110285753A CN 201910554031 A CN201910554031 A CN 201910554031A CN 110285753 A CN110285753 A CN 110285753A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
The invention discloses a kind of marine floating type works basin test model large space optical motion measurement methods, it is therefore intended that realizes the precise measurement to six-freedom motion in experimental tank large space by optical motion measuring technique and device.Include the following steps: the six-freedom motion for 1) defining model in basin test, 2) size according to pond overall measurement space is built by groups of optical sensor forms two-by-two array；3) optical sensor self-calibration is carried out using scaling board, establish the corresponding relationship matrix { N } of observed image and space coordinate, 4) it is demarcated by the overlapping region for measuring space to adjacent sensors, obtain the relative space position relationship of adjacent sensors, 5) in measurement space, marine floating type works test model is placed under experimental tank stormy waves stream environment and is tested；This method measurement accuracy is high, tissue is flexible, application space range is wide, can accurately and effectively realize the measurement of test model large overall motion.
Description
Technical field
The present invention relates to objects in the measuring method of spatial movement (position and angle), realizes big in laboratory water tank
The accurate measurement of ocean floating structure (ship and ocean platform etc.) test model position and angle, is especially one in space
Kind marine floating type works basin test model large space optical motion measurement method.
Background technique
The water pool model test of marine floating type works (ship and ocean platform etc.) is to examine its design performance index
Important means.It can forecast the movement of the floating structure under wind wave flow action and stress condition, guarantee works in real sea area
The safety and reliability of the middle production and operation.
Certain water pool model tests, such as maneuverability stability trial in ship wave, two ships are by side unloading test, wind-powered electricity generation installation
Test and the test of platform chunking floating support mounting etc. need the movement (position and angle etc.) to model in large space to carry out accurate
Measurement.However, the existing motion measurement means based on gyroscope and small space optics location technology are difficult to cover pond large space
Model sport measurement, especially in large space position and speed measurement on have significant limitations.
Existing basin test model sport measuring technique is divided into two big mainstream classifications by subjects feature, and the first kind is needle
The test of ocean platform, FPSO and FLNG to no speed of a ship or plane etc., using several (being generally less than 4) optical image sensors and
Optical transmitting set carries out the measurement of passive marker point six-freedom motion in small space, Canadian NDI house journal:
CN1199054C, title: for measuring the spatial position of object and the system of orientation, for such Exemplary patents of laboratory use
Technology, only there are two the relatively-stationary optical image sensor in position, small (the general 3m*3m* of the measurable range of model sport
3m spatial dimension), it is unable to satisfy the measurement of model sport in large space.Second class is for there is speed of a ship or plane ship Motion Waves
Test carries out the measurement of experimental model movement in large space using multiple optical image sensors and active light emission mark point,
Japanese Direct house journal: JP5705514B2, title: development Guang マ ー カ device, the such Exemplary patents used for laboratory
Technology uses multiple optical image sensors to be tracked measurement large space internal model to 3 or more active light emission mark points
Type moves (position and speed), but is only capable of measurement model X and Y-direction (i.e. surging and swaying motion) in two-dimensional surface in experiment
Position and speed, be unable to measure in large space model in the position of Z-direction (i.e. heaving) and around the angle of rotation of X, Y, Z axis
It spends (i.e. rolling, pitching and yaw angle), limits to using existing.The equal nothing of above-mentioned two big mainstream classification test model motion measurement technology
Method realizes that there are obvious deficiencies to the precise measurement of six-freedom motion in model large space.
Summary of the invention
Present invention aims at realized in experimental tank large space to six certainly by optical motion measuring technique and device
By the precise measurement of degree movement.This method measurement accuracy is high, tissue is flexible, application space range is wide, can accurately and effectively realize
The measurement of test model large overall motion.
The object of the invention is realized by the following technical solutions:
Marine floating type works basin test model large space optical motion measurement method, this method comprises the following steps:
1) six-freedom motion of model in basin test is defined, six-freedom motion includes that X, Y and Z-direction displacement are i.e. vertical
Swing x, swaying y and heaving z and the rotation i.e. rolling around X, Y and Z-directionPitching θ and yawing ψ；
2) size according to pond overall measurement space, using formula M=2 [Vt/Vi] determine optical image sensor and light energy
The quantity of generating device and position are built by groups of optical image sensor forms two-by-two array；In formula, VtFor pond area
Domain volume, ViFor the maximum measurement space of two sensor compositions；
3) optical image sensor self-calibration is carried out using scaling board, establishes the corresponding relationship of observed image and space coordinate
Matrix { N }, includes the following steps:
A. two optical image sensors are fixed, form maximum measurement space,
B. the scaling board with passive marker point is placed in spatial position and is demarcated,
C. different spatial P (x, y, z) correspondence image pixel point is obtained by the way that scaling board is mobile in calibration region
Set (xp,yp) and size Sp,
D. spatial position and scaling board image corresponding relationship, { P }≤> ∑ { N are establishedi}{(xp1,yp1,Sp1,xp2,yp2,
Sp2)i, in formula, i is the quantity of mark point, and subscript 1 and 2 represents two optical image sensors,
E. by corresponding relationship matrix { N obtained by calibratingiCenter image processing computer is imported, thus complete optical imagery
Sensor self-calibration；
4) it is demarcated by the overlapping region for measuring space to adjacent sensors, the space for obtaining adjacent sensors is opposite
Positional relationship includes the following steps:
A. adjacent sensors measured zone forms lap,
B. scaling board is placed in lap, it is hollow in sensor measurement region to obtain each calibration point according to corresponding relationship
Between position P1(x, y, z) and P2(x, y, z) thus obtains the relative position between adjacent sensors:
ΔP12=P1-P2
C. according to relative position, the switching law to test model mark point cluster by measured zone when overlapping region is carried out
Definition:
D. all overlapping domains of large space inner sensor array are demarcated, determines interregional opposite of sensor measurement
The space coordinate of position and all optical image sensors relative to the earth fixed coordinate system, and define between adjacent measured zone
Switching law, realize test model large overall motion measurement；
E. data obtained by calibrating are imported into center image and handles computer, thus complete optical image sensor overlapping domains
Calibration；
5) in measurement space, marine floating type works test model is placed under experimental tank stormy waves stream environment, integrates top
The mark point cluster of spiral shell instrument is fixed on test model top；Test model is navigated by water under stormy waves stream environment in measuring in space, in light
Under the irradiation of energy generating apparatus, the mark point cluster reflected light on model is observed using optical image sensor, each group
Optical image sensor image data and gyro data pass through wired or wireless transmission mode real-time Transmission to center image
Handle computer；Formula P is used in central processing computert=(xt,yt.zt)=Pn+ΔPia+L+ΔPjk+ΔPkl+ΔPlm+L
+ΔPsnExtrapolate space coordinate P of the test model relative to the earth fixed coordinate system O-XYZt(i.e. surging, swaying and heaving fortune
It is dynamic) and around X, Y, Z axis rotational angle (i.e. rolling, pitching and yaw angle)；
In formula, i and n are test model initial time and the small measurement space number where current time, and j, k, l, m are
The zone number that test model passes through, PnWith Δ PjkRespectively mark point cluster is coordinate in the space n in number and number is j
With the relative position of the adjacent space of k, both convert to obtain by image information by the corresponding relationship determined in calibration process, by
This obtains surging x, swaying y and heaving z movement of the test model in measurement space, and is stored in center image processing and calculates
In machine.
While measuring spatial position, test rolling measured by integrated gyroscope in synchronous acquisition mark point cluster
Pitching θ and yawing ψ movement, and be sent in center image processing computer in real time by being wirelessly connected, it is achieved in large space
The six-freedom motion measuring of interior test model, including X, Y, Z-direction space coordinate (i.e. surging, swaying and heaving) and
Around the rotational angle (i.e. rolling, pitching and yaw angle) of X, Y, Z axis.
Further, the object of the invention can also be realized by the following technical scheme:
The optical image sensor includes: ccd image sensor and/or cmos image sensor.
The light energy generating device includes: infrared light LED light and/or visible LED lamp.
The working principle of the invention:
This method builds the array including multiple optical image sensors composition, and the size according to measurement space determines each light
The relative position between imaging sensor and quantity are learned, under the irradiation of light energy generating device, using optical image sensor pair
The reflected light for being integrated with the passive marker point cluster of gyroscope is observed；Two aspect staking-out works are carried out before measurement, first is that passing through
Optical image sensor self-calibration establishes the corresponding relationship matrix of observed image and space coordinate, second is that passing through adjacent optical image
Sensor overlapping observation region labeling determines relative position and overlapping region inner sensor between earth coordinates lower sensor
Between switching law；After calibration, mark point cluster is fixed on test ship model and is observed, in center image processing computer
The rule established according to calibration obtains the space coordinate of X, Y of mark point cluster, Z-direction to sensor observed image calculation process
(i.e. surging, swaying and heaving), at the same by gyroscope obtain mark point cluster around X, Y, Z axis rotational angle (i.e. rolling,
Pitching and yaw angle), finally, obtain being fixed with six-freedom motion (position, speed of the test model of mark point cluster by converting
Degree and angle).
Beneficial effects of the present invention
The present invention overcome the shortcomings of the prior art marine floating type works basin test model large overall motion measurement on,
It proposes a kind of by optical image sensor array, light energy generating device, the passive marker point cluster of integrated gyroscope and center figure
As the model large overall motion accurate measuring technique and device of processing computer composition.This method measurement accuracy is high, tissue is flexible,
Application space range is wide, can accurately and effectively realize the measurement of test model large overall motion.
The present invention builds optical image sensor array, is different from the relative position used in patent CN1199054C and fixes
Two optical image sensors, array include the adjustable optical image sensor in multiple relative positions, number of sensors can
According to the size increase and decrease in measurement space, the relative position of each sensor is determined by overlapping domains calibration technique, realizes mark point cluster
Large space position and angle precise measurement.Overcome the active light emission mark point in patent JP5705514B2 that can not measure mould
The deficiency of type angle and Z-direction movement, the present invention are reduced using the passive marker point cluster and light energy generating device of integrated gyroscope
The complexity of mark point simultaneously passes through gyro measurement model around the rotational angle (i.e. rolling, pitching and yaw angle) of X, Y, Z axis.
The present invention builds more optical image sensor arrays of adjustable relative position, in the irradiation of light energy generating device
Under, the reflected light for the passive marker point cluster for being integrated with gyroscope is observed, in sensor self-calibration and array overlapping domains mark
Determine to handle to obtain the space coordinate of mark point cluster by center image processing Computing in technical foundation, and then converts and obtain
It is fixed with the movement of the test model of mark point cluster.Deficiency of the existing typical technology in large overall motion measurement is made up, is used
More accurate and flexible technology realizes the measurement moved in basin test model large space.
Therefore, the present invention builds the optical image sensor array of covering pond large space, to being fixed on test model
The passive marker point cluster for being integrated with gyroscope space coordinate carry out optical detecting, formed optical motion measuring technique and dress
It sets, realizes to the precise measurement moved in basin test model large space, overcome the limitations of conventional measurement techniques, this is right
Play a significant role in the development of water pool model experimental technique and the safety of marine floating type works.
Detailed description of the invention
Fig. 1: coordinates of motion definition figure；
Fig. 2: optical image sensor self-calibration schematic diagram；
Fig. 3: optical image sensor overlapping domains demarcate schematic diagram；
Fig. 4: large space optical motion measuring device schematic diagram；
Fig. 5: position measurements exemplary diagram；
Figure label: x is surging, and y is swaying, and z is heaving,For rolling, θ is pitching, and ψ is yawing, and 1 is pond wind
Wave stream environmental condition, 2 be marine floating type works test model, and 3 be optical image sensor array, and 4 fill for light energy
It sets, 5 be the mark point cluster of integrated gyroscope, and 6 handle computer for center image, and 7 be the earth fixed coordinate system O-XYZ, and 8 be figure
Picture real-time Transmission connects, and 9 connect for wireless real-time transmission, and 10 be overall measurement space, and 11 be optical image sensor, and 12 be measurement
Region, 13 be scaling board, and 15 be mark point, and 21a and 21b are two optical image sensors in measured zone 21d, 22a and
22b is two optical image sensors in measured zone 22d, and 21c and 22c are two measured zone light energy generating devices, 23
It is scaling board for overlapping region, 24,31 be model sport track, that is, surging and swaying motion, and 32 be model yawing angle, and 33 are
Model roll angle, 34 be model pitch angular.
Specific embodiment
Below with reference to example and attached drawing, the invention will be further described, but the protection scope of invention should not be limited with this.
Embodiment 1
Instrument of the present invention includes: the passive marker of optical image sensor, light energy generating device, integrated gyroscope
Point cluster and center image handle computer.Wherein, optical image sensor array and light energy generating device are fixed on pond
Portion's bracket, quantity and position determine that the passive marker point cluster of integrated gyroscope is fixed on floating knot according to measurement spatial dimension
On structure object test model, model floats on the water surface of pond, and center image handles computer and optical image sensor and gyroscope
Connection receives observed image and angle-data.Wherein optical image sensor is ccd image sensor, can also be schemed for CMOS
As sensor or other imaging sensors, light energy generating device is infrared light LED light, can also for visible LED lamp or its
His lamp:
Marine floating type works basin test model large space optical motion measurement method, this method comprises the following steps:
Referring to Fig. 1, Fig. 1 is the six-freedom motion schematic diagram for defining model in basin test.Six-freedom motion packet
Include X, Y and the i.e. surging x of Z-direction displacement, swaying y and heaving z and the rotation i.e. rolling around X, Y and Z-directionPitching θ and bow
Shake ψ.
According to pond space size, the overall measurement for building covering pool area in groups two-by-two by optical image sensor 3 is empty
Between 10, and the small measurement space of each two sensors composition is numbered, the quantity M of required optical image sensor estimation is such as
Under:
M=2 [Vt/Vi]
In formula, VtFor pool area volume, ViFor the measurement in space space of the maximum 5m*5m*5m of two sensors composition.
It can also be the cube or cuboid of other sizes in practical application.
Referring to Fig. 2, Fig. 2 is optical image sensor self-calibration schematic diagram.
Optical image sensor self-calibration technology, this technology obtains mark point sensor image by calibration and mark point is empty
Between position corresponding relationship.Include the following steps:
Two optical image sensors 11 are fixed, the measurement in space space 12 for being up to 5m*5m*5m is formed, will be had
The scaling board 13 of passive marker point 15, which is placed in spatial position, to be demarcated, and wherein several passive markers on scaling board are pressed
Know that positional relationship arranges, mark point 15 show one of arrangement mode in Fig. 2, can also be greater than 6 for passive marker point
Other any spread patterns；According to solid or the factory for forming other sizes the characteristics of optical image sensor in practical application
Room measures space.
Scaling board 13 is placed in different location P (x, y, z) in measurement space 12, under the irradiation of light energy generating device 4, passes through
Optical image sensor 11 obtains 15 reflected light image of mark point at corresponding position P, and identification obtains the pixel of all mark points
Position (xp,yp) and size Sp, thus establish the spatial position P of scaling board 13 and the corresponding relationship of location of pixels and size:
{ P }≤> ∑ { Ni}{(xp1,yp1,Sp1,xp2,yp2,Sp2)i}
In formula, i is the quantity of mark point, and subscript 1 and 2 represents two optical image sensors.By correspondence obtained by calibrating
Relational matrix { NiCenter image processing computer 6 is imported, thus complete optical image sensor self-calibration.
Referring to Fig. 3, Fig. 3 is optical image sensor overlapping domains calibration schematic diagram.
Optical image sensor overlapping domains calibration technique, this technology pass through the overlapping region to adjacent sensors measurement space
It is demarcated, obtains the relative space position relationship of adjacent sensors, achieve the purpose that flexible expansion measures space.Including as follows
Step:
Adjacent sensors measured zone 21d and 22d forms lap 23, and scaling board 24 is placed in lap 23,
Each calibration point is obtained in region 21d and 22d spatial location P according to corresponding relationship1(x, y, z) and P2(x, y, z), thus obtains
Relative position between adjacent sensors:
ΔP12=P1-P2
According to relative position, the switching law to test model mark point cluster by measured zone when overlapping region is determined
Justice:
All overlapping domains 23 of large space inner sensor array are demarcated as a result, determine that sensor measurement is interregional
Space coordinate relative to the earth fixed coordinate system of relative position and all optical image sensors, and define adjacent measurement
Interregional switching law realizes the large overall motion measurement of test model.Data obtained by calibrating are imported at center image
Computer is managed, the calibration of optical image sensor overlapping domains is thus completed；
Referring to Fig. 4, Fig. 4 is large space optical motion measuring device schematic diagram.
Our department be divided into test model under stormy waves stream environment 1 large space relative to 7 O-XYZ of the earth fixed coordinate system six
Freedom degree motion measurement technology and device.
In measurement space 10, marine floating type works test model 2 is placed under experimental tank stormy waves stream environment 1, is integrated
The mark point cluster of gyroscope is fixed on 2 top of test model.Test model 2 is navigated by water under stormy waves stream environment in measurement space 10
It is interior, under the irradiation of light energy generating device, the mark point cluster reflected light on model is seen using optical image sensor
It surveys, each group optical image sensor image data is calculated by 8 real-time Transmission of wire/wireless transmission mode to center image processing
Machine 6.In central processing computer 6, space coordinate P of the test model relative to the earth fixed coordinate system O-XYZt(xt,yt,
zt) calculate as the following formula:
Pt=(xt,yt.zt)=Pn+ΔPia+L+ΔPjk+ΔPkl+ΔPlm+L+ΔPsn
In formula, i and n are test model initial time and the small measurement space number where current time, and j, k, l, m are
The zone number that test model passes through.PnWith Δ PjkRespectively mark point cluster is coordinate in the space n in number and number is j
With the relative position of the adjacent space of k, both convert to obtain by image information by the corresponding relationship determined in calibration process.By
This obtains surging x, swaying y and heaving z movement of the test model in measurement space, and is stored in center image processing and calculates
In machine 6.
While measuring spatial position, test rolling measured by integrated gyroscope in synchronous acquisition mark point cluster 5Pitching θ and yawing ψ movement, and be sent in center image processing computer 6 in real time by being wirelessly connected 9.It is achieved in big
The six-freedom motion measuring of test model in space, space coordinate (i.e. surging, swaying and heaving fortune including X, Y, Z-direction
It is dynamic) and around X, Y, Z axis rotational angle (i.e. rolling, pitching and yaw angle).
Fig. 5 shows that the present invention measures six-freedom motion of the obtained test model in pond, and data are with real ship
Scale is presented.31 be the model sport track i.e. surging and swaying motion that measurement obtains, and 32,33 and 34 be the mould that measurement obtains
Type yawing, roll and pitch angle.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, based on the technical solutions of the present invention, those skilled in the art are not needed to make the creative labor and can be done
Various modifications or changes out are still within protection scope of the present invention.
Claims (3)
1. marine floating type works basin test model large space optical motion measurement method, which is characterized in that this method includes
Following steps:
1) define the six-freedom motion of model in basin test, six-freedom motion include X, Y and the i.e. surging x of Z-direction displacement,
Swaying y and heaving z and rotation, that is, rolling around X, Y and Z-directionPitching θ and yawing ψ；
2) size according to pond overall measurement space, using formula M=2 [Vt/Vi] determine optical sensor and light energy generating device
Quantity and position, build by groups of optical sensor forms two-by-two array；In formula, VtFor pool area volume, ViIt is two
The maximum measurement space of a sensor composition；
3) optical sensor self-calibration is carried out using scaling board, establishes the corresponding relationship matrix { N } of observed image and space coordinate,
Include the following steps:
A. two optical sensors are fixed, form maximum measurement space,
B. the scaling board with passive marker point is placed in spatial position and is demarcated,
C. different spatial P correspondence image pixel position x is obtained by the way that scaling board is mobile in calibration regionp、ypAnd size
Sp,
D. spatial position and scaling board image corresponding relationship, { P }≤> ∑ { N are establishedi}{(xp1,yp1,Sp1,xp2,yp2,Sp2)i,
In formula, i is the quantity of mark point, and subscript 1 and 2 represents two optical sensors,
E. by corresponding relationship matrix { N obtained by calibratingiCenter image processing computer is imported, thus complete optical sensor certainly
Calibration；
4) it is demarcated by the overlapping region for measuring space to adjacent sensors, obtains the relative space position of adjacent sensors
Relationship includes the following steps:
A. adjacent sensors measured zone forms lap,
B. scaling board is placed in lap, obtains spatial position P of each calibration point in measured zone according to corresponding relationship1
With P2, thus obtain the relative position between adjacent sensors: Δ P12=P1-P2
C. according to relative position, the switching law to test model mark point cluster by measured zone when overlapping region is determined
Justice:
D. all overlapping domains of large space inner sensor array are demarcated, determines the relative position in sensor measurement region
And space coordinate of all optical sensors relative to the earth fixed coordinate system, and define the rule of the switching between adjacent measured zone
Then, the large overall motion measurement of test model is realized；
E. data obtained by calibrating are imported into center image and handles computer, thus complete the calibration of optical sensor overlapping domains；
5) in measurement space, marine floating type works test model is placed under experimental tank stormy waves stream environment, by integrated top
The mark point cluster of spiral shell instrument is fixed on test model top；Test model is navigated by water under stormy waves stream environment in measuring in space, in light
Under the irradiation of energy generating apparatus, the mark point cluster reflected light on model is observed using optical sensor, each group optics
Sensor image data and gyro data are calculated by wired or wireless transmission mode real-time Transmission to center image processing
Machine；Formula P is used in central processing computert=(xt,yt.zt)=Pn+ΔPia+L+ΔPjk+ΔPkl+ΔPlm+L+ΔPsnIt pushes away
Calculate space coordinate P of the test model relative to the earth fixed coordinate system O-XYZtWith the rotational angle around X, Y, Z axis；
In formula, i and n are test model initial time and the small measurement space number where current time, and j, k, l, m are test mould
The zone number that type passes through, PnWith Δ PjkRespectively mark point cluster is coordinate in the space n in number and number is j and k
The relative position of adjacent space both is converted to obtain by the corresponding relationship determined in calibration process by image information, thus
Surging x, swaying y and heaving z movement in space are being measured to test model, and is being stored in center image processing computer；
While measuring spatial position, test rolling measured by integrated gyroscope in synchronous acquisition mark point clusterPitching
θ and yawing ψ movement, and be sent in center image processing computer in real time by being wirelessly connected, it is achieved in examination in large space
The six-freedom motion measuring for testing model, including X, Y, the space coordinate of Z-direction and around the rotational angle of X, Y, Z axis.
2. marine floating type works basin test model large space optical motion measurement method according to claim 1,
It is characterized in that, the optical sensor includes ccd image sensor and/or cmos image sensor.
3. marine floating type works basin test model large space optical motion measurement method according to claim 1,
It is characterized in that, the light energy generating device includes infrared light LED light and/or visible LED lamp.
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| CN112161785A (en) * | 2020-09-14 | 2021-01-01 | 中国海洋大学 | Ocean engineering structure micro-damage judgment method |
| CN115508006A (en) * | 2022-09-15 | 2022-12-23 | 中国船舶科学研究中心 | Ship model gravity center and inertia testing method |
| CN115508006B (en) * | 2022-09-15 | 2023-09-22 | 中国船舶科学研究中心 | Ship model gravity center and inertia testing method |
| CN118130043A (en) * | 2024-04-30 | 2024-06-04 | 中国海洋大学 | Annular totally-enclosed infinite interval wind-wave generation physical pool, system and method |
| CN118130043B (en) * | 2024-04-30 | 2024-07-16 | 中国海洋大学 | Annular totally-enclosed infinite interval wind-wave generation physical pool, system and method |
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