CN1888912A - Rotating speed measuring divice based on computer vision - Google Patents
Rotating speed measuring divice based on computer vision Download PDFInfo
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- CN1888912A CN1888912A CN 200610029122 CN200610029122A CN1888912A CN 1888912 A CN1888912 A CN 1888912A CN 200610029122 CN200610029122 CN 200610029122 CN 200610029122 A CN200610029122 A CN 200610029122A CN 1888912 A CN1888912 A CN 1888912A
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Abstract
The rotate speed test equipment based on computer vision relates to vision collection equipment, speed test platform, outside spring module and computer system. The vision collection equipment uses to gather the movement illegibility image of the need tested object on the speed test platform and send the illegibility image communication to the computer system. The computer system relates to control module, display module and illegibility image dispose speed test module. One part of the illegibility image communication sends to the display module, the other part sends to the illegibility image dispose speed test module. The display module displays the illegibility image and communication at real time. The illegibility image dispose speed test module achieves the rotate speed test by movement reduced-dimension disposal, time frequency commutation, frequency spectrum analysis and the capture of movement parameter. Its speed test effect is well and it is suitable for all kinds of speed test occasion.
Description
Technical field
The present invention relates to a kind of device of technical field of computer vision, specifically, is a kind of rotation-speed measuring device based on computer vision.Can be widely used in the various tachometric surveies in fields such as machine-building, building, transportation; And can detect the rotating speed of optional frequency scope.
Background technology
Traditional rotating speed measurement method mainly is divided into two classes: mechanical type rotating speed measurement method and optics rotating speed measurement method.The mechanical type rotating speed measurement method still is widely used at present, but great majority are used for the test of low rotating speed of 20rpm～8000rpm.This method depends on contact pressure in measuring process, its maximum shortcoming is that the loading motion is discontinuous.In addition, mechanical type is measured engine speed method can not be applied to trickle object, if rotation rate is too high, and the situation of easily slipping.Adopt the photoelectricity tachometry of principle of reflection more accurate than mechanical type mensuration, safety, advanced person, but often need extra the installation to transmit and receive device, make measuring system more complicated, the receiving trap of costliness more can make the raising of measuring system cost.Simultaneously because the light performance difference that surveying instrument is launched, limited the measuring distance and the scope of this method.
Computer vision is one and develops new branch of science rapidly.By anthropomorphic dummy's vision mechanism realize measuring, locate, function such as monitoring become an important topic in the present intelligence instrument field.Since the recent two decades, the research of computer vision has been moved towards practical application from the laboratory, handle to many image gray from simple binary Images Processing, handle the research of 3D vision mechanism, model and algorithm, obtained very big progress from general two-dimensional signal.And the raising at full speed of computer industry level and subject development such as artificial intelligence and neuroid have more promoted the useization of computer vision system.At present, computer vision system just is being widely used in every field such as vision-based detection.
Find that through literature search China Patent No. is: CN95243533.0, patent name is: a kind of shaft rotation speed transducer, this patent readme is: " a kind of shaft rotation speed transducer comprises drive link, magnet, main shaft and Hall element to prior art.It is characterized in that described magnet adopts magnet ring, evenly form 2n magnetic pole on described magnet ring surface, wherein n is a natural number; Described magnet ring is enclosed within on the described main shaft and can rotates with described main shaft; Described drive link and described main shaft are connected to a fixed, and described Hall element is positioned near the described magnet ring." structure of this patented technology links to each other with rotating shaft by the magnet ring that Hall element is installed and realize the detection of rotating speed, belongs to the contact speed measurement method, can not be applied to trickle object, if rotation rate is too high, the situation of easily slipping.China Patent No. is: CN200320113582.1, patent name is: magnetic conduction turning axle temperature, rotating speed and vibration non-contact testing device, this patent readme is: " a kind of magnetic conduction turning axle temperature; rotating speed and vibration non-contact testing device; it is characterized in that: described proving installation; differ 180 position at the circumference of tested turning axle; radially mill two dark 2mm; wide 2mm, the breach of long 5mm, place an eddy current displacement sensor in the appropriate location of distance turning axle, sensor obtains temperature, rotating speed and vibration composite signal carry out showing output respectively after the Signal Separation via demultiplexing circuit." this patented technology is a kind of non-contact type tachometric measurement mechanism, but need in tested rotating shaft, mill two dark breach, and make the application scenario of this non-contact detection method be restricted, especially inapplicable to some exact instrument or non-destruction application scenario.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, a kind of rotation-speed measuring device based on computer vision is provided, make its system architecture simple, it is effective to test the speed, and can be applied to various velocity survey occasions.
Because the line integral imaging characteristic of ccd image sensor, moving object is taken under rotation status often all to be blurred picture, usually with the fuzzy degradation phenomena that is considered as image of this type games, utilize recoverys theory such as various filtering that image is restored processing.But from another angle, usually implicit certain object of which movement (rotation) information of such motion blur image.Based on this thought, the present invention utilizes computer vision to obtain motion blur image, and analyzes and extract corresponding movable information, thereby realizes the tachometric survey of rotation.
The present invention is achieved by the following technical solutions, the present invention includes four component parts: vision collecting device, the platform that tests the speed, external trigger module and computer system, the vision collecting device is used to gather the motion blur image that is installed in the testee on the platform that tests the speed, and the blurred picture information that is obtained is transmitted computer system.
Be provided with control module, display module and blurred picture in the computer system and handle speed measuring module.The vision collecting device is delivered to the blurred picture information one tunnel of computer system and is delivered to display module, and another road is delivered to blurred picture and handled speed measuring module.Display module shows the blurred picture that is obtained in real time, and can show customizing messages according to user's requirement.Blurred picture is handled speed measuring module and is obtained the back and realize measurement to the testee rotating speed by the blurred picture that obtains being carried out motion dimension-reduction treatment, time-frequency conversion, spectrum analysis, kinematic parameter.
The control module of computer system links to each other with the vision collecting device by the external trigger module, and control module is finished the parameter setting of external trigger module, and the external trigger module is sent control signal according to the pre-set parameter that control module sends to the vision collecting device.
The vision collecting device comprises ccd image sensor and image pick-up card.The optical axis of ccd image sensor is vertical with testee tested surface on being installed in the platform that tests the speed during installation.Ccd image sensor is realized gathering the motion blur image that is installed in the testee on the platform that tests the speed, and sends the motion blur image that is obtained to computer system by image pick-up card.
Described blurred picture is handled speed measuring module and is comprised blurred picture acquisition module, motion blur analysis module, time-frequency modular converter, spectrum analysis module and kinematic parameter acquisition module five functional module.Each module obtains image from previous module respectively, by image is handled, the image after handling is delivered to next module.Be specially: the blurred picture acquisition module obtains original blurred picture information from image pick-up card, carries out conversion process, for the motion blur analysis module provides required image information; The motion blur image that the motion blur analysis module is sent the blurred picture acquisition module here is converted to one dimension translation motion blurred picture by spatial alternation, the blurred picture after handling use for the time-frequency modular converter; The one dimension blurred picture that the time-frequency modular converter utilizes Fourier transform that the motion blur analysis module is sent carries out the time-frequency conversion and obtains the spectral image of this image and send spectrum analysis module to; Spectrum analysis module is obtained the spectrogram of blurred picture from the time-frequency modular converter, utilizes feature extracting methods to obtain characteristic parameter relevant with motion in the spectrogram; Send the kinematic parameter acquisition module to by the parameter relevant with motion that spectrum analysis module obtained, the kinematic parameter acquisition module utilizes the relation between motion blur model and the kinematic parameter, obtains desired rotary speed information.
The present invention is a kind of rotation-speed measuring device based on computer vision methods, and this rotation-speed measuring device utilizes the measurement of single frames blurred picture realization to rotating speed according to the image-forming principle of rotational motion blurred picture, is a kind of device of realizing online non-cpntact measurement.The present invention is simple in structure, can be widely used in the production testing environment, also can carry out telemeasurement in the environment that is subjected to pollutions such as chemistry, radioactivity, noise.No matter the present invention is in scientific research, produces or all have been widely used at aspects such as maintenance of equipment.
Description of drawings
Fig. 1 is a structured flowchart of the present invention;
Fig. 2 is that blurred picture is handled the connection diagram between speed measuring module and other each modules
Fig. 3 is the connection diagram of control module and other modules;
Fig. 4 is a structured flowchart of the present invention;
Fig. 5 is the structured flowchart that blurred picture of the present invention is handled speed measuring module.
Embodiment
As shown in Figure 1, the present invention includes four component parts: vision collecting device, the platform 5 that tests the speed, external trigger module 2 and computer system 4.The vision collecting device is used to gather the motion blur image that is installed on the platform that tests the speed 5 testee, and the blurred picture information that is obtained is transmitted computer system 4.
Be provided with control module, display module 17 and blurred picture in the computer system 4 and handle speed measuring module.The vision collecting device is delivered to the blurred picture information one tunnel of computer system 4 and is delivered to display module 17, and another road is delivered to blurred picture and handled speed measuring module.Display module 17 shows the blurred picture that is obtained in real time, and can show customizing messages according to user's requirement.Blurred picture is handled speed measuring module and is obtained the back and realize measurement to the testee rotating speed by the blurred picture that obtains being carried out motion dimension-reduction treatment, time-frequency conversion, spectrum analysis, kinematic parameter.
The control module of computer system 4 links to each other with the vision collecting device by external trigger module 2, control module is finished the parameter setting of external trigger module 2, and external trigger module 2 is sent control signal according to the pre-set parameter that control module sends to the vision collecting device.
The vision collecting device comprises ccd image sensor 1 and image pick-up card 3.The optical axis of ccd image sensor is vertical with testee tested surface on being installed in the platform 5 that tests the speed during installation.Ccd image sensor 1 realizes gathering the motion blur image that is installed in the testee on the platform 5 that tests the speed, and sends the motion blur image that is obtained to computer system 4 by image pick-up card 3.
The vision collecting device can reconfigure composition according to the requirement of application scenario, has overcome to a certain extent that system architecture is fixed, the defective of function singleness, has widened range of application.For the measurement occasion of high-speed motion, can select to take short imageing sensor of time shutter; For the bigger measurement occasion of movement velocity scope, can select to take adjustable occasion of time shutter; According to the distance between testee and the imageing sensor, the camera lens of can corresponding selection different imageing sensors; Simultaneously can also select the camera lens of the imageing sensor of different amplification, if in the micromechanical applications occasion even can select microimaging according to the size of testee.The user is flexible configuration as required, and operation is succinctly convenient.Except that system platform adopted WINDOWS2000, control module of the present invention, display module 17, blurred picture were handled speed measuring module and all can be adopted software to realize.
As shown in Figure 5, blurred picture handles that speed measuring module comprises that blurred picture obtains 6, motion blur analysis 7, time-frequency conversion 12, spectrum analysis 13 and kinematic parameter obtain 16 five functional modules.Each module obtains image from previous module respectively, by image is handled, the image after handling is delivered to next module.
1) the blurred picture acquisition module 6.Image collection module is obtained original blurred picture information from image pick-up card 3, carries out conversion process, for motion blur analysis module 7 provides required image information.Picture format difference at 3 outputs of different images capture card, blurred picture acquisition module 6 need pass through format conversion from the blurred picture that image pick-up card 3 is obtained, and is the gray level image form that motion blur analysis module 7 can be handled with the blurred picture format conversion.
2) the motion blur analysis module 7.This module comprises that rotation center extracts submodule 8 and motion dimension-reduction treatment submodule 11.Rotation center extracts submodule 8 and read the blurred picture data message from blurred picture acquisition module 6, carry out the image pre-service, the method of utilizing moving image to handle is analyzed blurred picture, obtains the rotation center of motion, uses for motion dimension-reduction treatment submodule 11; Motion dimension-reduction treatment submodule 11 utilizes rotation center to extract the rotation center information that submodule 8 is provided, calling corresponding algorithm handles blurred picture, two-dimentional Rotational Motion Blurred Images is converted to one dimension uniform translation motion blur image, uses for time-frequency modular converter 12.
A) rotation center extracts submodule 8.Comprise rim detection submodule 9 and circle feature extraction submodule 10.From blurred picture acquisition module 6, read the blurred picture data message, obtain to contain the image of rotation information by rim detection submodule 9 backs, image after 10 pairs of edge detection sub-module of circle feature extraction submodule 9 are handled is analyzed, and extracts required rotation feature.
I) the rim detection submodule 9.Rim detection submodule 9 obtains the blurred picture data message from blurred picture acquisition module 6, calling the respective edges Processing Algorithm handles blurred picture, utilize the textural characteristics of measurand, obtain to contain serial concentric circles corresponding or isocentric circular arc image with target rotation.
Ii) round feature extraction submodule 10.The image information that rim detection submodule 9 is obtained sends the feature extraction submodule to, the image processing algorithm that this module invokes circle detects, and utilize round symmetry characteristic, and the center of circle is mated, obtain serial concentrically ringed home position information.This home position corresponding rotation center.
B) motion dimension-reduction treatment submodule 11.Motion dimension-reduction treatment submodule 11 one tunnel is input as and reads the blurred picture data message from blurred picture acquisition module 6, and another road is input as the rotation center positional information that is obtained by circle feature extraction submodule 10.Motion dimension-reduction treatment submodule 11 calls interpolation algorithm the blurred picture that is obtained is carried out fan out, and the motion blur image that launches is flowed to next module as output information.
3) the time-frequency modular converter 12.Time-frequency modular converter 12 is realized the fuzzy frequency domain character that is converted to of spatial movement.Time-frequency modular converter 12 is input with the one dimension translation motion blurred picture that motion blur analysis module 7 provides, and uses discrete Fourier transform (DFT) the motion blur image in the spatial domain is converted to spectrogram in the frequency domain.
4) spectrum analysis module 13.Spectrum analysis module 13 is obtained the spectrogram of blurred picture from time-frequency modular converter 12, utilizes feature extracting methods to obtain characteristic parameter relevant with motion in the spectrogram.Spectrum analysis module 13 is divided into image pre-service submodule 14 and target detection submodule 15.Image pre-service submodule 14 is that the spectrogram that time-frequency modular converter 12 is exported is carried out pre-service, strengthens the contrast of image, strengthens target signature information.The carrying out pretreated spectrogram and will send target detection submodule 15 to of image pre-service submodule 14 output, target detection submodule 15 uses the Radon transform methods that image is handled, and the linear feature in the detected image obtains the linear position parameter.
A) image pre-service submodule 14.Image pre-service submodule 14 obtains spectrogram from time-frequency modular converter 12 and carries out pre-service, calls the image pre-processing method in the Flame Image Process, improves picture quality, strengthens the contrast of image, strengthens target signature information.
B) the target detection submodule 15.Target detection submodule 15 is input with the spectrogram of image pre-service submodule 14 outputs, calls the Radon transform method image is handled, and the linear feature in the detected image obtains the linear position parameter.
5) the kinematic parameter acquisition module 16.Kinematic parameter acquisition module 16 realizes that rotary speed parameter obtains.Is the input parameter of kinematic parameter acquisition module 16 by target detection submodule 15 by the linear position parameter and the Rotational Motion Blurred Images of spectrogram being carried out obtained after the Radon conversion (Radon transform), utilize the parameter transformation relation of fuzzy model, the calculating rotary speed parameter that rotatablely moves is as detecting output.
The purpose of motion blur analysis is that by the interpolation arithmetic fan out, the translation motion that is converted to one dimension is image blurring with the image blurring information that rotatablely moves and caused owing to two dimension.The purpose of time-frequency conversion is the spectrogram that obtains to the blurred picture behind the terrible dimensionality reduction.Image characteristics extraction is carried out Flame Image Process by the spectrogram that time-frequency conversion back is obtained, thereby extracts the required straight line information relevant with motion.The basic skills of target detection is to set up to detect object module, utilizes then the image of Radon conversion after handling and detects needed linear feature.
Control module is used to finish the setting of external trigger module 2 parameters.The setting that is input as controlled variable in the human-computer interaction interface of control module sends parameter to external trigger module 2 by computer system 4I/O interface.
External trigger module 2 is sent control signal according to the pre-set parameter that control module sent to ccd image sensor 1.
Claims (10)
1, a kind of rotation-speed measuring device based on computer vision, comprise: vision collecting device, the platform that tests the speed (5), external trigger module (2) and computer system (4), it is characterized in that, the vision collecting device is used for gathering the motion blur image of the testee that is installed in the platform that tests the speed (5), and the blurred picture information that is obtained is transmitted computer system (4); Be provided with control module, display module (17) and blurred picture in the computer system (4) and handle speed measuring module, the vision collecting device is delivered to the blurred picture information one tunnel of computer system (4) and is delivered to display module (17), another road is delivered to blurred picture and is handled speed measuring module, display module (17) shows the blurred picture that is obtained in real time, and according to user's the display message that requires, blurred picture is handled speed measuring module and is obtained the back and realize measurement to the testee rotating speed by the blurred picture that obtains being carried out motion dimension-reduction treatment, time-frequency conversion, spectrum analysis, kinematic parameter; The control module of computer system (4) links to each other with the vision collecting device by external trigger module (2), control module is finished the parameter setting of external trigger module (2), and external trigger module (2) is sent control signal according to the pre-set parameter that control module sends to the vision collecting device.
2, according to the described rotation-speed measuring device of claim 1 based on computer vision, it is characterized in that, described vision collecting device, comprise ccd image sensor (1) and image pick-up card (3), the optical axis of ccd image sensor (1) is vertical with testee tested surface on being installed in the platform that tests the speed (5), ccd image sensor (1) collection is installed in the motion blur image of the testee on the platform that tests the speed (5), and sends the motion blur image that is obtained to computer system (4) by image pick-up card (3).
3, according to the described rotation-speed measuring device of claim 1 based on computer vision, it is characterized in that, described blurred picture is handled speed measuring module and is comprised: blurred picture acquisition module (6), motion blur analysis module (7), time-frequency modular converter (12), spectrum analysis module (13) and kinematic parameter acquisition module (16), blurred picture acquisition module (6) obtains original blurred picture information from image pick-up card (3), carry out conversion process, for motion blur analysis module (7) provides required image information; The motion blur image that motion blur analysis module (7) is sent blurred picture acquisition module (6) here is converted to one dimension translation motion blurred picture by spatial alternation, the blurred picture after handling use for time-frequency modular converter (12); The one dimension blurred picture that time-frequency modular converter (12) utilizes Fourier transform that motion blur analysis module (7) is sent carries out the time-frequency conversion and obtains the spectral image of this image and send spectrum analysis module (13) to; Spectrum analysis module (13) utilizes feature extracting methods to obtain characteristic parameter relevant with motion in the spectrogram from the spectrogram of time-frequency modular converter (12) acquisition blurred picture; The parameter relevant with motion that is obtained by spectrum analysis module (13) sends kinematic parameter acquisition module (16) to, and kinematic parameter acquisition module (16) utilizes the relation between motion blur model and the kinematic parameter, obtains desired rotary speed information.
4, according to the described rotation-speed measuring device of claim 3 based on computer vision, it is characterized in that, described motion blur analysis module (7) comprises two submodules: rotation center extracts submodule (8) and motion dimension-reduction treatment submodule (11), rotation center extracts submodule (8) and read the blurred picture data message from blurred picture acquisition module (6), carry out the image pre-service, the utilization image process method is analyzed blurred picture, obtain the rotation center of motion, use for motion dimension-reduction treatment submodule (11); Motion dimension-reduction treatment submodule (11) utilizes rotation center to extract the rotation center information that submodule (8) is provided, calling corresponding algorithm handles blurred picture, two-dimentional Rotational Motion Blurred Images is converted to one dimension uniform translation motion blur image, sends time-frequency modular converter (12) to and use.
5, according to the described rotation-speed measuring device of claim 4 based on computer vision, it is characterized in that, described rotation center extracts submodule (8), comprise rim detection submodule (9) and circle feature extraction submodule (10), from blurred picture acquisition module (6), read the blurred picture data message, obtain to contain the image of rotation information by rim detection submodule (9) back, image after circle feature extraction submodule (10) is handled edge detection sub-module (9) is analyzed, and extracts required rotation feature.
6, according to the described rotation-speed measuring device of claim 4 based on computer vision, it is characterized in that, described motion dimension-reduction treatment submodule (11), the one road is input as from blurred picture acquisition module (6) and reads the blurred picture data message, another road is input as the rotation center positional information that is obtained by circle feature extraction submodule (10), motion dimension-reduction treatment submodule (11) calls interpolation algorithm the blurred picture that is obtained is carried out fan out, and the motion blur image that launches is flowed to next module as output information.
7, according to the described rotation-speed measuring device of claim 3 based on computer vision, it is characterized in that, described time-frequency modular converter (12), realization is with the fuzzy frequency domain character that is converted to of spatial movement, time-frequency modular converter (12) is input with the one dimension translation motion blurred picture that motion blur analysis module (7) provides, and uses discrete Fourier transform (DFT) the motion blur image in the spatial domain is converted to spectrogram in the frequency domain.
8, according to the described rotation-speed measuring device of claim 3 based on computer vision, it is characterized in that, described spectrum analysis module (13), comprise image pre-service submodule (14) and target detection submodule (15), image pre-service submodule (14) is that the spectrogram that time-frequency modular converter (12) is exported is carried out pre-service, strengthen the contrast of image, strengthen target signature information; Target detection submodule (15) obtains the pretreatment image information of spectrogram from image pre-service submodule (14), use the Radon transform method that image is handled, and the linear feature in the detected image obtains the linear position parameter.
9, according to described in the claim 3 based on the rotation-speed measuring device of computer vision, it is characterized in that, described kinematic parameter acquisition module (16), the realization rotary speed parameter obtains, is the input parameter of kinematic parameter acquisition module (16) by target detection submodule (15) by the linear position parameter and the Rotational Motion Blurred Images of spectrogram being carried out obtained after the Radon conversion, utilize the parameter transformation relation of fuzzy model, calculate the rotary speed parameter that rotatablely moves, as detecting output.
10, according to described in the claim 1 based on the rotation-speed measuring device of computer vision, it is characterized in that, described display module (17), from the output of each submodule of blurred picture processing speed measuring module, obtain picture output signal, or parameter signal, and on screen, show, simultaneously also will be as human-computer interaction interface, response user's operation; The setting that is input as controlled variable in the human-computer interaction interface of control module, the I/O interface by computer system (4) sends parameter to external trigger module (2).
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| CN107179418B (en) * | 2016-03-11 | 2020-01-21 | 易宝股份有限公司 | Speed detection technique using multiple processing paths |
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