CN202361989U - Device for long-distance measurement of engineering machinery based on machine vision - Google Patents
Device for long-distance measurement of engineering machinery based on machine vision Download PDFInfo
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- CN202361989U CN202361989U CN2011204525392U CN201120452539U CN202361989U CN 202361989 U CN202361989 U CN 202361989U CN 2011204525392 U CN2011204525392 U CN 2011204525392U CN 201120452539 U CN201120452539 U CN 201120452539U CN 202361989 U CN202361989 U CN 202361989U
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Abstract
The utility model provides a device for long-distance measurement of engineering machinery based on machine vision. The device comprises a marker arranged on an object to be measured, two cameras, a personal computer (PC), and network transmission equipment. The device is characterized in that the two cameras (A and B) are erected on the ground in relative to the projection point of the marker on the ground as the original point O; the distance (LA) between the original point O and the camera A is equal to the distance (LB) between the original point O and the camera B; the connection line between the original point O and the camera A is vertical to that between the original point O and the camera B; the lenses of the two cameras are respectively aligned to the center position of the marker; and the two cameras are identical in shooting angle and focal length. The device provided by the utility model can capture a segment of video or a series of pictures so as to automatically acquire the information of displacement, speed, acceleration and so on. Accordingly, the device is feasible in on-site measuring the vibration information of a cantilever crane or a hoist as well as the running information of an engine, and the working state at the moment can be conveniently recorded by capturing videos or pictures, thereby facilitating post-analysis.
Description
Technical field
The utility model relates to a kind of equipment of the engineering machinery telemeasurement based on machine vision, and the machinery that is specifically related to work high above the ground such as boom type concrete mixer and crane is the displacement measurement of execution unit in the course of the work, belongs to engineering machinery field.
Background technology
In engineering machinery (like crane, pump truck etc.) working-yard; Needs based on experimental measurement or failure cause investigation; Often need to measure the displacement of execution unit (like jib, suspender etc.), and the displacement of measuring this type of engineering machinery at the construction field (site) is very inconvenient.The employing displacement transducer is faced on-the-spot rugged surroundings and is needed a factor such as permanent datum at present; Make this type sensor use very difficulty; Simultaneously, this type sensor needs all size power supply (220V alternating current, 24V direct current usually; 36V direct current etc. all needs special-purpose power module; Carry inconvenience) preparation, the demarcation of displacement datum and the inconvenience (some need shut down installation) of sensor installation, brought inconvenience to in-site measurement, strengthened workload and the difficulty measured.Lack measuring method easily and effectively at present.
Therefore, how easily and fast the aerological measurement problem of the execution unit of engineering machinery is the technical matters of the required solution of those skilled in the art.
Because the execution unit (jib, suspender etc.) of engineering machinery has less rigidity and bigger quality, in vibration or speed is slow usually when mobile, therefore adopt and to satisfy most measurement requirement than the SF measurement of low frequency.
The utility model content
The utility model is in order to overcome problem and the shortcoming that above-mentioned prior art exists, and a kind of jib motion measurement mode and engine operation information metering system of easy to use, dependable performance is provided.
The technical scheme that the utility model adopted is:
A kind of equipment of the engineering machinery telemeasurement based on machine vision; Comprise the marker that is arranged on the target to be measured, two video cameras, individual PC computer and web-transporting devices; Two video cameras are video camera A and video camera B, are initial point O with marker subpoint on the ground, set up video camera A and video camera B on the ground; Video camera A equates to the distance L B of initial point O with video camera B to the distance L A of initial point O, and 2 lines of OA and OB to connect the some line orthogonal; The camera lens of video camera A and video camera B is aimed at the center of marker respectively, and the shooting angle of video camera A and video camera B is identical with focal length.
Preferably, the said equipment also comprises sound pick-up outfit.
Preferably, the shape of above-mentioned marker and color and background are obviously distinguished.
Preferably, above-mentioned two video cameras are connected with individual PC computer, and individual PC computer expert crosses web-transporting device and is connected with the production firm terminal.
The utility model is to adopt the photography or the mode of shooting; Obtain one section video recording or a series of photo; Promptly can obtain displacement, speed, acceleration information etc. automatically, as adopting the mode of shooting, more can be through the acoustic information that obtains simultaneously; Engine etc. is carried out phonetic analysis, obtain information such as rotating speed this moment.Therefore it is feasible the operation information of jib or suspender vibration and engine being carried out in-site measurement, and the record duty at this moment that video recording or photo can be convenient, is more conducive to post analysis.
Adopt this kind metering system; The image information and the acoustic information that only need client or unit in charge of construction with camera or recorder the working-yard to be gathered pass to engineering machinery manufacturer; Measure by the relevant art department of device fabrication producer and can obtain operation information; And can further judge the fault and the failure cause that possibly exist, this has saved after-sale service cost greatly and has improved the quality of after sale service.If long-term and client keeps in touch, the health information of periodic measurement engineering machinery also can be found the unusual of engineering machinery in advance, and reminds the client to make corresponding processing, and this has saved client's time greatly.
Description of drawings
Fig. 1 is the utility model electronic equipment and jib synoptic diagram;
Fig. 2 is the calculating synoptic diagram of the utility model jib actual motion amplitude;
Fig. 3-the 1st, the utility model metering system is implemented synoptic diagram;
Fig. 3-the 2nd, another implements synoptic diagram the utility model metering system;
Fig. 4 is two electronic equipment images acquired of the utility model synoptic diagram;
Fig. 5-the 1st, the utility model embodiment selects the marker synoptic diagram;
Fig. 5-the 2nd, the utility model embodiment identifies synoptic diagram to marker;
Fig. 5-the 3rd, the utility model embodiment marker is followed the tracks of synoptic diagram;
Fig. 5-the 4th, the utility model embodiment marker continue to follow the tracks of synoptic diagram
Fig. 6-the 1st, the utility model jib motion amplitude synoptic diagram;
Fig. 6-the 2nd, the utility model jib actual motion amplitude synoptic diagram;
Fig. 6-the 3rd, the utility model jib actual motion speed synoptic diagram;
Fig. 6-the 4th, the utility model jib actual motion acceleration synoptic diagram;
Fig. 6-the 5th, the utility model Fourier transform synoptic diagram.
Embodiment
Understand and enforcement the utility model for the ease of those of ordinary skills, the utility model is done further to describe in detail below in conjunction with accompanying drawing and embodiment.The utility model is that example describes with the boom type concrete mixer.
According to the video recording (frame number of per second is many more, and the frequency analysis precision is high more) or the high-speed photograph that collect in the mechanical working-yard of work high above the ground such as boom type concrete mixer.Find target (certain marker on the jib) through video recording or photo through machine vision, lock marker, follow the motion of (track) marker then automatically; Because marker is attached on the jib and nonelastic deformation, its motion has reflected the motion conditions of jib, through the measurement to the marker motion conditions; Central point with marker is a reference point; Limit (being not necessarily the limit on the practical significance) with marker is a standard, and calculating can get the motion amplitude of marker, promptly is the motion amplitude of jib.This metering system is reference measurement with the marker, and marker must obviously make a distinction with background, and is therefore irrelevant with the variation of background.This metering system is also irrelevant with the variation of camera site (position with once taking is consistent, and the position of homogeneous shooting can be not different), focal length, shooting angle.Through the analysis to jib motion measurement gained data, but the failure judgement reason is also further improved product design.
In order better to show the motion conditions of jib; Consider to make the three-dimensional plot of jib motion amplitude; The motion conditions of taking jib simultaneously from two orientation respectively with two video cameras, and these two video cameras must meet at right angles (90 °) with the jib end initial point that is projected as on the ground, and far and near equally apart from subpoint; Be LA=LB, as shown in Figure 4.Because two motion conditions that video camera is taken jib simultaneously, then their motion amplitudes on above-below direction are consistent in theory, are standard in the pixel of above-below direction motion with corresponding actual margin so adopt marker.Concrete metering system is same as described above.The measurement result of jib above-below direction motion is compared, handle if unanimity is then carried out subsequent analysis, otherwise abandon.So can represent the motion conditions of jib fully in whole space.
The noise of sound of engine when gathering operate as normal at the construction field (site) (various operating mode) and working-yard (like sound of Other Engineering plant equipment etc.); It is done the simple working-yard is removed in the back from the sound of engine the noise of handling, waveform is shown and be saved in database.The client gathers the sound of engine and the noise of working-yard at the construction field (site) then; At first display waveform and do some simple processing is removed the noise of working-yard then, and the sound in the last and database during operate as normal compares; Can be by programming software Visual C++, assistant analysis software LabView etc.; Extract faulty section, can judge the working condition and the failure message of engine according to this, be convenient to further M R.
The jib motion amplitude metering system that is adopted is all will lock marker to each frame picture, and calculates the zone of marker, so the variation of camera site, focal length and shooting angle causes marker shape and big or small variation in the picture accordingly; But for once measuring together; Camera site, shooting angle and focal length are constant, and the shape of the marker of locking also is constant with size, and electronic equipments such as video camera are far from jib; Be generally more than 10 meters; Therefore can ignore to the differential seat angle of electronic equipment in the upper edge and the lower edge on marker limit, as shown in Figure 1, and this moment is according to formula
Calculating gets final product, and is as shown in Figure 2, and Fig. 2 is the amplification of Fig. 1 circle part, and given formula is a kind of concrete form of fundamental formular.
For not homogeneous measurement; The variation for focal length can be reacted in the locational variation of distance in the camera site, because every frame picture all will be measured the pixel value of marker, when focal length variations; The shared pixel value of the marker that photographs can change thereupon; The pixel value of the jib motion that photographs simultaneously also changes in proportion, can know by the actual motion computing formula of jib, and be the not influence of jib motion amplitude to final result of calculation.
The variation of shooting angle causes marker size and shape variation accordingly; The pixel value of the marker of measuring also can change thereupon in proportion; But the central point of marker is constant; And marker is far apart from electronic equipments such as video cameras, and the length of side of marker is far smaller than distance, and its shape variation can be ignored; And the explanation of size variation can be with reference to camera site and focal length variations the time.So the variation of shooting angle to the not influence of measurement of pixel value, is the also not influence of jib motion amplitude to final result of calculation.
To the instrumentation plan of jib motion amplitude shown in Fig. 3-1 and Fig. 3-2.
As shown in Figure 4, suppose that video camera A gathers for about the jib, the motion conditions of left and right sides both direction (left and right directions is the big direction of motion amplitude), then video camera B gathers is about the jib, the motion conditions of former and later two directions.Because two motion conditions that video camera is taken jib simultaneously, then their motion amplitudes on above-below direction are consistent in theory.We are that master, video camera B are auxilliary images acquired with video camera A and since two camera acquisitions to jib be consistent at the motion amplitude of above-below direction, so the pixel standard all to adopt above-below direction with corresponding actual margin standard be the Y direction.The image that video camera A is gathered is that the described method of above-mentioned three, four two parts is carried out analysis to measure with the metering system of jib motion state; And the image that video camera B gathers carried out same analysis to measure, and the motion of measured above-below direction and the result of A compare, if unanimity is then effective, otherwise measurement data calcellation this time.When in the end the jib motion amplitude shows, with two kinds of display modes: the one, show the motion amplitude value of each direction with pixel value or actual motion range value, the analysis jib is in the motion conditions of three directions; The 2nd, adopt three-dimensional plot to show the coordinate situation of whole jib in the space, show its spatial movement regional extent.
Specific embodiment is following:
At first extract the first frame picture, at certain point of manually selecting the marker different (on jib, following the jib motion) on the display with background color as importing (measuring the location independent that the result of gained puts therewith at last); And this point shown (can be+, *, ◇ etc.; Do not limit), shown in Fig. 5-1, putting with this then is that benchmark (is represented with a color module in the zone of definite marker automatically; Its shape, color are any; The eye-catching color of the general selection of color does not require), shown in Fig. 5-2.Move corresponding image processing algorithm then; The perhaps motion of certain oriented regional area measurement jib in the view picture picture, in this process, the color module of expression marker is followed jib always automatically; Shown in Fig. 5-3,5-4; And draw the motion conditions (this moment what draw be pixel value, the upper left corner of image is initial point) of jib in every frame picture with two dimensional image, shown in Fig. 6-1.Then according to following formula,
Calculating can get the motion amplitude (with international unit rice or centimetre represent) of jib, shown in Fig. 6-2, accomplishes the motion measurement to jib this moment.We also can calculate the speed and the acceleration of jib motion, shown in Fig. 6-3,6-4.Jib is carried out Fourier transform in the actual motion amplitude of time domain, so that further analyze, shown in Fig. 6-5.
The above; It only is practical implementation case in order to explanation the utility model; But be not in order to limit the practical range of the utility model; Such as those skilled in the art must be covered by the scope of the utility model claim not breaking away from all equivalence changes of being accomplished under indicated spirit of the utility model and the principle or modifying.
Claims (2)
1. equipment based on the engineering machinery telemeasurement of machine vision; Comprise the marker that is arranged on the target to be measured, two video cameras, individual PC computer and web-transporting devices; It is characterized in that: two video cameras are video camera A and video camera B, are initial point O with marker subpoint on the ground, set up video camera A and video camera B on the ground; Video camera A equates to the distance L B of initial point O with video camera B to the distance L A of initial point O, and 2 lines of OA and OB to connect the some line orthogonal; The camera lens of video camera A and video camera B is aimed at the center of marker respectively, and the shooting angle of video camera A and video camera B is identical with focal length.
2. the equipment of the engineering machinery telemeasurement based on machine vision according to claim 1, it is characterized in that: said equipment also comprises sound pick-up outfit.
3, the equipment of the engineering machinery telemeasurement based on machine vision according to claim 1, it is characterized in that: the shape of said marker and color and background are obviously distinguished.
4, according to the equipment of the described engineering machinery telemeasurement based on machine vision of one of claim 1-3, it is characterized in that: said two video cameras are connected with individual PC computer, and individual PC computer expert crosses web-transporting device and is connected with the production firm terminal.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011204525392U CN202361989U (en) | 2011-11-16 | 2011-11-16 | Device for long-distance measurement of engineering machinery based on machine vision |
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| CN2011204525392U CN202361989U (en) | 2011-11-16 | 2011-11-16 | Device for long-distance measurement of engineering machinery based on machine vision |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113280805A (en) * | 2021-04-14 | 2021-08-20 | 中联重科股份有限公司 | Method, processor and device for identifying boom posture and engineering machinery |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113280805A (en) * | 2021-04-14 | 2021-08-20 | 中联重科股份有限公司 | Method, processor and device for identifying boom posture and engineering machinery |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120801 Termination date: 20161116 |