CN1975361A - Mechanical kinematics, kinetic parameter detecting system and analysis method - Google Patents
Mechanical kinematics, kinetic parameter detecting system and analysis method Download PDFInfo
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- CN1975361A CN1975361A CN 200610123958 CN200610123958A CN1975361A CN 1975361 A CN1975361 A CN 1975361A CN 200610123958 CN200610123958 CN 200610123958 CN 200610123958 A CN200610123958 A CN 200610123958A CN 1975361 A CN1975361 A CN 1975361A
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Abstract
This invention disclosed a detection system used for kinematics/dynamics parameter and the analysis method. It contains an object used for analysis and validation, a testing pot fixed in the key part of the object, a camera to shoot the movement track of the object and a data processing system. The data processing system connects with the camera via a image collecting card. This invention shows high efficiency and precision. It can be applied to test all kinds of movement real-time.
Description
Technical field:
The present invention is a kind of kinematics of mechanism, kinetic parameter detecting system and analytical approach, particularly a kind of kinematics of mechanism based on vision technique, kinetic parameter detecting system and analytical approach belong to the innovative technology of kinematics of mechanism, kinetic parameter detecting system and analytical approach.
Background technology:
Mechanism is the basis of forming various mechanical systems, as piston engine, and various textile machines, printing machinery etc., so the research of theory of mechanisms is the research emphasis in the mechanical field always.No matter be the serviceability of analysis and research existing machinery, or the optimal design new mechanism, kinematic analysis of mechanisms all is crucial.So-called Kinematic Analysis, exactly displacement, speed and the acceleration to mechanism calculate, measure, analysis such as experiment.Kinematic analysis of mechanisms involved in the present invention is under the condition of the characteristics of motion of known driving link, the displacement of each point, track, speed and acceleration on all the other members in the analysis institution, and the angular displacement of these members, angular velocity and angular acceleration.These kinematic parameters have been arranged, could analyze, estimate the serviceability of existing mechanism, it also is a basic foundation of optimizing comprehensive new mechanism simultaneously.
By the displacement analysis of (comprising track), whether mutual interference takes place in the time of can determining the space that some component movement is required or judge their motions; Can also determine the stroke of driven member, can certain point realize the requirement that the precalculated position changes on examination member or the member.
By analysis, can determine whether the velocity variations of driven member in the mechanism satisfies job requirement to speed.Velocity analysis simultaneously also is the acceleration analysis of mechanism and the basis of force analysis.
To the analysis of mechanism's acceleration, be to calculate the indispensable precondition of inertial force.In high speed machine, calculate dynamic performances such as its exercise intensity, vibrations, these are all relevant with variation with the size of dynamic loading or inertial force.Therefore, to high speed machine, dynamic analysis can not be ignored.
The how kinematics and the dynamic analysis correctness of certifying organization, existing method generally is at each key position of mechanism various sensors to be installed, carry out data acquisition and data analysis with computing machine, result and Computer simulation results after handling are compared checking.The shortcoming that this method exists is that the sensor installation is dumb, to the kinematic parameter of a lot of inconvenient sensor installations, can only carry out indirect analysis and measure; The sensor of being installed produces mechanism kinematic sometimes interferes, and can cause the kinematic parameter distortion under some high speed, high acceleration situation; Accuracy of detection and efficient are not high enough; In particular cases can not carry out analysis aspect kinematics of mechanism, the dynamics by this method at some at all.
Summary of the invention:
The objective of the invention is to, on the basis of considering the problems referred to above, provide a kind of and can improve accuracy of detection and efficient, realize at a high speed, high-resolution image acquisition, kinematics of mechanism and dynamics correlation parameter are carried out kinematics of mechanism, the kinetic parameter detecting system of fast detecting.
Another object of the present invention is to provide a kind of convenient and practical, the kinematics of mechanism that various unconventional characteristics of motion are carried out curve fitting, the analytical approach of kinetic parameter.
The structural representation of detection system of the present invention as shown in Figure 2, include and be used to the mechanical component tested object (1) analyzing and verify, be installed in the test point or the analysis site (2) of key position in the mechanism to be measured, guarantee to take the camera (3) that covers mechanism to be measured whole movement locus zone, a series of images that shooting is obtained carries out pretreated image preprocess apparatus (4).Pass through the image acquisition card connection between camera (3) and the image preprocess apparatus (4).
The test point of above-mentioned representative mechanism to be measured (1) motion feature or analysis site can be that any place is gone up by mechanism to be measured (1).
Test point on the above-mentioned moving link to be measured or analysis site (2) can produce with light source with certain brightness or color or reverberation.
Test point or analysis site are with the track of motion motion, and CCD camera being shot (3) is taken into continuous work image.
The image preprocess apparatus (4) that with the computing machine is main tool is gathered and is handled image data information.
The analytical approach of kinematics of mechanism of the present invention, kinetic parameter is used said mechanism kinematics, kinetic parameter detecting system, and the course of work is following steps:
1) set regular time interval of delta t triggering camera (3) and take,
2) on mechanism to be measured (1), select some expression things as test point or analysis site (2);
3) owing to expression things such as light source or reverberation are housed at the test point or the analysis site place of mechanism to be measured (1), its brightness exceeds background, so form certain contrast with background, utilization target extractive technique, extract each test point or analysis site, can distinguish each point according to brightness and chromaticity, thereby the position that draws test point or analysis site that is to say the position of member;
4) from a series of images, obtain the position sequence of a certain test point or analysis site, thereby determine in the time period or complete cycle in a certain test point or the movement locus of analysis site and the movement locus of member;
5) image preprocess apparatus (4) pre-service that the trace image data that obtain are correlated with makes the key character of image more obvious, and removes disturbing factor such as noise;
6) from adjacent two width of cloth images, obtain the position of same node interval time Δ t, according to kinematic relevant theoretical, speed is exactly the displacement time differential, thus the speed of obtaining, acceleration is the speed time differential, and then tries to achieve acceleration;
7), determine the dynamics of mechanism by acceleration and quality according to kinetic theory.
Detection system of the present invention is owing to adopt the reverberation of the light source of different brightness or color being installed or being had different characteristic at the tested position of mechanism, the camera that is positioned at the mechanism front in the certain intervals Time Triggered carries out the image production, the image that luminous point is returned carries out information acquisition, the image information that obtains is sent to image preprocess apparatus through image pick-up card, image preprocess apparatus carries out pre-service with the image that collects, for detecting, succeeding target prepares, therefore, detection system accuracy of detection of the present invention and efficient are all higher, can realize at a high speed, high-resolution image acquisition.Analytical approach of the present invention is by obtaining the information such as displacement of node, again according to the theory of kinematics and mechanics, obtain mechanism relevant motion and dynamic (dynamical) parameter, come the correctness of certifying organization's motion and dynamic analysis, analytical approach of the present invention is convenient and practical, can carry out curve fitting to various unconventional characteristics of motion.
Description of drawings:
Fig. 1 is an embodiment of the invention motion of mechanism schematic diagram to be measured;
Fig. 2 is the structural representation of detection system of the present invention;
Fig. 3 is the process flow diagram of detection method of the present invention.
Embodiment:
Embodiment:
The mechanism principle figure to be measured of detection system embodiment of the present invention as shown in Figure 1, structural representation as shown in Figure 2, include and be installed on mechanism to be measured 1 test point or the analysis site, be used for, guarantee that shooting area covers the camera 3 of the whole movement locus of mechanism to be measured, a series of images that shooting is obtained carries out pretreated image preprocess apparatus 4 at some component representation things 2 of analyzing and representing during checking member, camera 3 with a series of images that shooting obtains is carried out pass through the image acquisition card connection between the pretreated image preprocess apparatus 4.
In the present embodiment, above-mentioned mechanism to be measured 1 test point or analysis site are the hinge place of mechanism 1 to be measured.Above-mentioned component representation thing 2 is different brightness or the light source of color or the reverberation with different characteristic.Above-mentioned camera 3 is the CCD camera.Above-mentioned image preprocess apparatus 4 is a computing machine.
The analytical approach of kinematics of mechanism of the present invention, kinetic parameter is used said mechanism kinematics, kinetic parameter detecting system, includes following steps:
1) setting regular time interval of delta t triggering camera 3 takes, some component representation things 2 were with test point or analysis site motion when mechanism 1 to be measured moved, camera 3 is taken the movement locus of some component representation things 2, the movement locus of promptly representing mechanism to be measured 1 test point or analysis site, thereby a series of images of acquisition mechanism kinematic;
2) image of 4 pairs of acquisitions of the image preprocess apparatus pre-service of being correlated with makes the key character of image more obvious, and removes disturbing factor such as noise;
3) because the component representation thing 2 that is equipped with at the test point or the analysis site place of mechanism 1 to be measured is light source or reverberation, its brightness exceeds background, so form certain contrast with background, utilization target extractive technique, extract each test point or analysis site, each point be can distinguish according to brightness and chromaticity, thereby the position of test point or analysis site and the position of member drawn;
4), obtain the position sequence of a certain test point or analysis site, thereby determine in the time period or a certain test point or the movement locus of analysis site and the movement locus of member that complete cycle is interior from a series of images;
5) from adjacent two width of cloth images, obtain the position of same node interval time Δ t, according to kinematic relevant theoretical, speed is exactly the displacement time differential, thus the speed of obtaining, acceleration is the speed time differential, and then tries to achieve acceleration;
6), determine the dynamics of mechanism by acceleration and quality according to kinetic theory.
Now with shown in Figure 1 in machine most widely used linkage assembly be that example illustrates its analytical approach, specifically include following steps:
1) at the node A of tested linkage assembly, B, C, D load onto at the place miniature bulb or the reverberation of different colours, and bulb moves with node during connecting rod mechanism movement, the movement locus of expression node;
2) the CCD camera is installed in the linkage assembly top, guarantees the whole movement locus of shooting area covering mechanism, with the information that guarantees not omit connecting rod mechanism movement.Determine Δ t interval time of triggering, the few more detected data of Δ t value are accurate more, will be higher to the requirement of hardware simultaneously.Trigger the CCD camera be positioned at the linkage assembly front in interval time and take, image is sent to computing machine through image pick-up card and stores then, and linkage assembly will obtain the linkage assembly motion diagram image sets in the different moment after operation a period of time in the computing machine.
3) a series of images that shooting is obtained must carry out pre-service.Pretreated purpose is to prepare for succeeding target point detects.Pre-service comprises the contrast that improves background and linkage assembly, makes linkage assembly obviously be different from background, utilizes Hi-pass filter to carry out sharpening, makes the impact point feature more obvious;
4) to image after the pre-service, utilization impact point detection algorithm carries out impact point and extracts in the zone of connecting rod mechanism movement, thereby finds out the node on the linkage assembly;
5) to two adjacent images, its mistiming is Δ t.Four nodes supposing a certain moment of linkage assembly are the AB1C1D among Fig. 1, interested in node at B1, since bulb or reverberation color difference, utilization impact point detection algorithm detects and B1 point bulb or reverberation colourity and brightness judgement, can detect the position of this node,, and note the color that B1 is ordered.Behind the elapsed time Δ t, obtain other piece image, at this moment four AB2C2Ds of node in Fig. 1.Same utilization impact point detection algorithm detects and the colourity and the brightness of preceding piece image same point judge that can obtain this position of this point constantly, its track remembers that it is B
1B
2Obtain track C as a same reason
1C
2According to kinematic principle, speed is exactly the displacement time differential, uses the formula V=dS/d Δ t that asks speed, and we can obtain the movement velocity in this this moment of node.Equally, our the different movement velocitys constantly of same node of noting adjacent image are respectively V
1And V
2, acceleration is the speed time differential, uses the formula a=dv/dt that asks acceleration so.After trying to achieve acceleration, according to principle of dynamics, utilize Newton second law F=ma, can obtain the size of power, so far, obtain this motion and dynamic (dynamical) parameter of linkage assembly, in like manner, can obtain the parameter of other nodes, thereby obtain kinematics and dynamic (dynamical) important parameter of this linkage assembly, verify then whether linkage assembly meets demand.
Claims (6)
1, a kind of kinematics of mechanism and kinetic parameter detecting system, it is characterized in that system includes: be used for mechanical mechanism tested object (1) analyzed and checking, be installed in the test point or the analysis site (2) of key position in the mechanism to be measured, the data processing equipment (4) that a series of images that guarantee to take the camera (3) that covers mechanism to be measured whole movement locus zone, shooting is obtained is handled.Pass through the image acquisition card connection between camera (3) and the image processing apparatus (4).
2, kinematics of mechanism according to claim 1, kinetic parameter detecting system is characterized in that the test point or the analysis site (2) of above-mentioned mechanism to be analyzed (1), can represent with the arbitrary motion position of mechanism to be measured (1).
3, kinematics of mechanism according to claim 1, kinetic parameter detecting system is characterized in that test point or analysis site (2) on the above-mentioned moving link to be measured, can reflect with the light source with certain brightness or color or with reverberation.
4, kinematics of mechanism according to claim 1, kinetic parameter detecting system is characterized in that its track CCD camera being shot (3) is taken into continuous work image when test point or analysis site move with mechanism.
5, kinematics of mechanism according to claim 1, kinetic parameter detecting system is characterized in that with the computing machine being that the image processing apparatus (4) of main tool is gathered and pre-service the image data information that is formed by track.
6, right of the present invention is that also this is the analytical approach of a kind of kinematics of mechanism, kinetic parameter, it is characterized in that kinematics of mechanism according to claim 1, kinetic parameter detecting system, will carry out work according to following steps:
1) set regular time interval of delta t triggering camera (3) and take,
2) on mechanism to be measured (1), select some expression things as test point or analysis site (2);
3) owing to expression things such as light source or reverberation are housed at the test point or the analysis site place of mechanism to be measured (1), its brightness exceeds background, so form certain contrast with background, utilization target extractive technique, extract each test point or analysis site, can distinguish each point according to brightness and chromaticity, thereby draw or the position of analysis site that is to say the position of member;
4) from a series of images, obtain the position sequence of a certain key point or analysis site, thereby determine in the time period or complete cycle in a certain test point or the movement locus of analysis site and the movement locus of member;
5) image preprocess apparatus (4) pre-service that the trace image data that obtain are correlated with makes the key character of image more obvious, and removes disturbing factor such as noise;
6) from adjacent two width of cloth images, obtain the position of same node interval time Δ t, according to kinematic relevant theoretical, speed is exactly the displacement time differential, thus the speed of obtaining, acceleration is the speed time differential, and then tries to achieve acceleration;
7), determine the dynamics of mechanism by acceleration and quality according to kinetic theory.
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| CN 200610123958 CN1975361A (en) | 2006-12-01 | 2006-12-01 | Mechanical kinematics, kinetic parameter detecting system and analysis method |
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| CN 200610123958 CN1975361A (en) | 2006-12-01 | 2006-12-01 | Mechanical kinematics, kinetic parameter detecting system and analysis method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101793905A (en) * | 2010-04-12 | 2010-08-04 | 天津大学 | Optical fiber type two-dimensional wind speed/direction measuring device and method |
| CN110108469A (en) * | 2019-05-28 | 2019-08-09 | 中交公路规划设计院有限公司 | A kind of submerged floating tunnel pipeline section attitude measuring, pilot system and test method |
| CN110248082A (en) * | 2018-11-20 | 2019-09-17 | 浙江大华技术股份有限公司 | A kind of method and device for planning camera motion controlling curve |
| CN110444098A (en) * | 2018-05-04 | 2019-11-12 | 南京农业大学 | Plane mechanism innovation overlap joint and motion analysis experimental bench |
-
2006
- 2006-12-01 CN CN 200610123958 patent/CN1975361A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101793905A (en) * | 2010-04-12 | 2010-08-04 | 天津大学 | Optical fiber type two-dimensional wind speed/direction measuring device and method |
| CN101793905B (en) * | 2010-04-12 | 2014-02-26 | 天津大学 | Optical fiber type two-dimensional wind speed/direction measuring device and method |
| CN110444098A (en) * | 2018-05-04 | 2019-11-12 | 南京农业大学 | Plane mechanism innovation overlap joint and motion analysis experimental bench |
| CN110248082A (en) * | 2018-11-20 | 2019-09-17 | 浙江大华技术股份有限公司 | A kind of method and device for planning camera motion controlling curve |
| CN110248082B (en) * | 2018-11-20 | 2020-12-08 | 浙江大华技术股份有限公司 | Method and device for planning motion control curve of camera |
| CN110108469A (en) * | 2019-05-28 | 2019-08-09 | 中交公路规划设计院有限公司 | A kind of submerged floating tunnel pipeline section attitude measuring, pilot system and test method |
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