JP2003269939A - Jet angle measurement device and jet angle measurement method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve the measurement accuracy. <P>SOLUTION: Respective two-dimensional coordinates of a plurality of images obtained by shooting the same shooting object are made to be a simultaneous equation, and a three-dimensional expression of a boundary line 33 of one shooting object is obtained. Since the mechanical origin is fixed and set at a nozzle 5, and the three- dimensional expression is described by the nozzle-fixed coordinate system fixed at the nozzle 5, the angle of a jet is resultantly measured with respect to the reference line or the reference surface of the nozzle. The nozzle-fixed coordinate system and an imaging plane coordinate system are standardized, the reference line of the nozzle 5 is strictly set as a marker line on the imaging plane coordinate system, and the multilateral shape of one jet 6 or the three-dimensional directions of a plurality of linear jets 6-1, 2 and 3 are described by the standardized coordinate system relatively to the nozzle 5, so that the three-dimensional expressions of the jet 6 or the linear jets 6-1, 2 and 3 with respect to the nozzle are made accurate. The shape of the jet can be measured without contacting it, the nozzle is not damaged, and a body like a measuring pin changing the hydrodynamic characteristics of the nozzle is not used, so that an actual jet can directly be measured and its real angle can be measured. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a jetting angle measuring device and a jetting angle measuring method, and more particularly to measuring jetting angles between various types of jets jetted from a nozzle and a reference line of the nozzle. The present invention relates to an injection angle measuring device and an injection angle measuring method.

[0002]

2. Description of the Related Art An injection nozzle or a spray nozzle for injecting a fluid such as fuel is used in an internal combustion engine such as a diesel engine. The injection direction of the injection nozzle affects the conversion efficiency of mechanical energy to thermal energy. It is important to design and improve jet nozzles by measuring such jet directions. The jetting direction is generally defined by the direction of the hole formed in the nozzle body. The injection direction can be known by inserting a pin having a portion matching the shape of such a hole and having a portion protruding from the hole and knowing the direction of the protruding portion. The mechanical alignment of the inserted pin with the hole is difficult, and their slight misalignment greatly disturbs the alignment between the direction of the protruding part of the pin and the actual jetting direction, and the pin is physically removed from the fluid. The original jet cannot be measured due to the influence of Due to the possibility of such an error, the measurement technique using pins is unreliable.

A technique for measuring the jet direction with high accuracy by directly measuring the jet flow is disclosed in Japanese Patent Laid-Open No. 10-1485.
Known as No. 99. As a substance that forms a jet flow,
Liquids such as water, fuel and cleaning liquids are known. If these liquids are transparent, the scattered light intensity of the light irradiating the liquid (eg, incandescent lamp, mercury lamp, laser beam) is low. Image processing techniques are used to distinguish scattered light from background. On the contrary, when the liquids are opaque and their scattering property is high, the amount of light that enters from one side of the jet and exits from the other side becomes exponentially small with respect to the transmission distance. The amount of light scattered on one side is extremely small. Image processing is often useless regardless of whether the liquid is transparent or opaque.

In order to improve the accuracy of measuring the angle of the jet with respect to the reference line fixed to the nozzle, it is necessary to extract the line segment with high accuracy corresponding to the outer surface of the jet. Binarization of an image is suitable for extracting a line segment. The accuracy of line segment extraction corresponds to the accuracy of binarization. In order to improve the accuracy of binarization, it is required that the relative difference between the imaging light intensities of the object to be imaged and the background thereof is large. Such measurement accuracy is realized by simultaneously performing multifaceted measurement and multidimensional measurement of the jet angle of the conical surface jet (solid jet) and the multi-line jet.

It is required that the image processing technology can be effectively used for the scattered light at the incident point.

[0006]

SUMMARY OF THE INVENTION An object of the present invention is to provide an injection angle measuring device and an injection angle measuring method capable of improving the accuracy of measuring the injection angles of a solid jet and a multi-line jet. Especially. An object of the present invention is to provide a jetting angle measuring device and a jetting angle measuring method that can effectively use an image processing technique for improving accuracy.

[0007]

Means for solving the problem Means for solving the problem are expressed as follows. The technical matters appearing in the expression are accompanied by parentheses (), and numbers, symbols and the like are added. The numbers, symbols and the like are technical matters constituting at least one embodiment or a plurality of examples of the plurality of embodiments or a plurality of examples of the present invention, particularly, the embodiment or the example. It corresponds to the reference numbers, reference symbols, etc. attached to the technical matters expressed in the drawings corresponding to. Such reference numbers and reference symbols clarify correspondences and bridges between the technical matters described in the claims and the technical matters of the embodiments or examples. Such correspondence / bridge does not mean that the technical matters described in the claims are limited to the technical matters of the embodiment or the examples.

The jetting angle measuring device according to the present invention comprises a support for rotatably supporting the nozzle (5), an object to be photographed which is a combination of the jet (6) jetted from the nozzle (5) and the background (2). And a camera (3) for photographing. The camera (3) has an imaging plane coordinate system defined in the nozzle fixed coordinate system fixed to the nozzle (5), and converts the light quantity into an electric signal corresponding to the two-dimensional coordinates of the imaging plane coordinate system. It has an imaging surface (21). An image processor (25) that extracts a boundary line (33) between the jet (6) and the background (2) based on an electric signal output from the imaging surface (21) corresponding to the jet (6) and the background (2). ) And a calculator (31) for executing a three-dimensional representation of the boundary line (33) in the nozzle fixed coordinate system. The three-dimensional representation is performed by solving a multi-dimensional simultaneous equation based on a plurality of electric signals corresponding to a plurality of relative positional relationships between the camera (3) and the object to be imaged.

The two-dimensional coordinates of each of a plurality of images obtained by photographing the same subject are made simultaneous and
A three-dimensional representation of the boundary line (33) of one imaged object is obtained. The mechanical origin is fixed and set on the nozzle (5),
Since the three-dimensional representation is described in the nozzle fixed coordinate system fixed to the nozzle (5), the jet angle is measured with respect to the reference line or reference plane of the nozzle. The nozzle fixed coordinate system and the imaging plane coordinate system are made into common coordinates, the reference line of the nozzle 5 is strictly set as a marker line on the imaging plane coordinate system, and the multifaceted shape of one jet (6), or , The three-dimensional direction of the plurality of linear jets (6-1, 2, 3) is described in the common coordinate system relative to the nozzle (5), and thus the jet (6) or the linear jet (6 -1, 2, 3)
The three-dimensional representation for the nozzles of is improved in accuracy.

Since the shape of the jet can be measured in a non-contact manner, the nozzle is not damaged, and there is no object such as a measuring pin that changes the hydrodynamic characteristics of the nozzle. It is possible to measure the true angle and measure the true angle.

It is important that the color of the background (2) and the color of the jet (6) are different from each other in order to improve the mathematical accuracy of the boundary line (33). The camera (3) is a three primary color camera, and the background (2) color and the jet (6) color are preferably selected from two of the three primary colors. It is also preferred that the camera (3) is an infrared camera.

The nozzle (5) is rotatable and the rotation axis (11) of the nozzle (5) is fixed to the nozzle fixed coordinate system, which means that the jet flow (6) is multifaceted in a common coordinate system. Makes it easy to take a picture (holding the axis of rotation is mechanically easy).

A light source for emitting a laser beam is added. The jet (6) is composed of a plurality of linear jets (6)
A laser beam is applied to two positions of one linear jet (6). The irradiation is preferably a slit-shaped light beam. The color of the laser beam and the color of the background (2) are preferably different from each other.

The nozzle (5) has a mechanical reference plane (9), the center line (12) of the jet (6) and the mechanical reference plane (9).
The positional relationship between and is defined by the nozzle fixed coordinate system. The mechanical reference plane (9) is appropriately a cylindrical plane, and the center line (12) can be easily set. The imaging plane (21) and the center line (11) of the nozzle can be described in common coordinates based on the verticality or constant directionality of the mechanical reference plane (9) at multiple rotational positions of the nozzle (5). The relative angle α around the centerline (12) of the plurality of linear jets (6) and the mechanical reference plane (9) of the plurality of linear jets (6-1, 2, 3).
The elevation angle θ defined with respect to is calculated by a calculator (31) based on a multi-dimensional simultaneous coordinate point or a multi-dimensional simultaneous linear equation.

The injection angle measuring method according to the present invention comprises the following set of steps: a step of setting a mechanical reference line (11) in the nozzle (5) by a machine tool, and an artificial nozzle (5) in the support base. Setting, a step of artificially arranging a camera (3) having an imaging plane coordinate system (21) defined with respect to the support, and a jet flow (6 or 6-) ejected from the nozzle (5). 1, 2, 3) are imaged in the imaging coordinate system (21) in a multifaceted manner to create a plurality of images by the camera (3), and a plurality of binarized images are obtained by binarizing the plurality of images respectively. Computer (2
5), and a plurality of line segments (3
3), the angle of the jet (6 or 6-1, 2, 3,) with respect to the mechanical reference line (11) is calculated by the computer (3
1) constitutes the step of calculating. An additional step of capturing the background by the camera is added. The color of the background (2) and the color of the light scattered by the jet (6) are different from each other.

[0016]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Corresponding to the figures, in an embodiment of an injection angle measuring device according to the present invention, a camera is arranged with a background screen. All or part of the background surface 2 of the background screen 1, as shown in FIG.
It is in the image-capable area 4 of. A nozzle 5 is included in the imageable area 4. The nozzle 5 ejects the jet flow 6. The defined portion (pseudo-conical surface) 7 of the jet flow 6 enters the imageable area 4. Regulation part 7
Is defined as the portion of the jet flow between the jet point P, which is the point-like jet port of the nozzle 5, and the prescribed plane 8 separated from this point P by a distance L (example: 65 mm).

A mechanical reference plane (example: cylindrical surface) 9 is precisely formed on the nozzle 5. The point P is located on the center line 11 of the mechanical reference plane 9, and the geometrical relationship between the mechanical reference plane 9 and the point P is given by precision machining. According to the precision machining, the jet direction line 12 of the jet flow 6 should coincide with the center line 11. The nozzle 5 is rotatably supported by a gripping jig (not shown) such that the center line 11 is a vertical line. Nozzle 5
The axis line of the rotation axis of is coincident with the center line 11 by machining. The rotation is performed by a servomotor with an encoder. The reference optical axis 13 of the camera 3 is preferably oriented horizontally. By aligning the mechanical reference surface 9 with the inner peripheral surface of a cylinder fixed to a support (not shown) and rotating the nozzle 5 guided by the peripheral surface, the direction of the center line 11 can be easily adjusted. Can be retained (saved).

FIG. 2A shows a multi-value grayscale output of an image of the nozzle 5 and the jet flow 6 formed on the image pickup screen of the camera 3 capable of outputting the light amount value corresponding to the two-dimensional coordinate value on the background 2. A hard copy output on paper or a multi-value grayscale image 15 output on a multi-value grayscale electronic display screen 14 is shown. FIG. 2B shows a binary grayscale image 16 obtained by performing image processing on the multivalue grayscale image 15 by binary graying. Binarization is 2
When the light quantity value corresponding to the two-dimensional coordinate value is smaller than the set threshold value, it is blackened with a constant brightness, and when the light quantity value corresponding to the two-dimensional coordinate value is larger than the set threshold value, it is whitened with a constant brightness. Alternatively, the binarization is dark when the light quantity value corresponding to the two-dimensional coordinate value is smaller than the set threshold value, and is dark when the light quantity value corresponding to the two-dimensional coordinate value is larger than the set threshold value. It is to brighten with high brightness.
The binarization is further binarization corresponding to FIG. 2B. When the light quantity value corresponding to the two-dimensional coordinate value is smaller than the set value, the light quantity value is zeroed and the two-dimensional coordinate value correspondence is performed. When the light amount value is larger than the set threshold value, the light amount value is set to 1.

It is important that the boundary line of the image obtained by the binarization is sharper. The sharpness of the nozzle 5
Equivalent to the distinction between the mechanical reference plane 9 and the defined portion 7 of the jet 6 and the background 2. To get that clarity,
The color of the nozzle 5 or the mechanical reference surface 9 is different from the color of the background surface 2 of the background screen 1, and the defined portion 7 of the jet flow 6 is
It is important that the color of and the color of the background surface 2 of the background screen 1 be different. The imaging surface of the camera 3 is of a mono-color type or a multi-color type. If the image pickup surface of the camera 3 is a mono-color compatible type, the white color of the background surface 2 corresponds to the black color of the defined portion 7, or the black color of the background surface 2 corresponds to the white color of the defined portion 7. If the image pickup surface of the camera 3 is a multi-color type, especially a three-primary color type, the specified portion 7
The green or blue color of the background surface 2 corresponds to the red color, and the red color of the background surface 2 corresponds to the green color of the defined portion 7.

The image pickup tube in which the photoelectron conversion surfaces each having high sensitivity to the wavelengths corresponding to the three primary colors is formed by CCD is used as it is. It is significant that a two-wavelength type phototube, which has specific sensitivity to two wavelengths, is separately developed. It is meaningful to color-paint the background screen 1 and the jet stream 6 corresponding to the wavelength of such a two-wavelength type phototube commercially available. For the color coating of the jet stream 6, a liquid having a proper viscosity in which a dyeing agent is dissolved, or a gas having a proper friction coefficient in which powder is mixed can be used. The infrared camera can be effectively used by positively providing the temperature difference between the background surface 2 and the jet flow 6.

A plane projection view is formed on the image pickup surface of the camera 3, as shown in FIG. Since the shape line that is the defining portion 7 is converted into coordinate values, the equation of the straight line that is the ejection direction line 12 is determined by the coordinate system set on the imaging surface such as a CCD camera. The mechanical reference plane 9 is likewise determined in that same coordinate system. Therefore, the defining portion 7 is calculated and determined for the nozzle 5. Based on the conical surface coordinate values, the solid angle of the jet flow 6 jetted from the point P and the angle between the center line of the defined portion 7 and the center line 11 which is the center line of the mechanical reference plane 9 passing through the point P. Is calculated. By rotating the nozzle 5 stepwise around the centerline 11 at a selected angle, it is possible to know the breaking of the symmetry of the centerline of the jet flow 6. It is possible to rotate the camera 3 and the background screen 1 together around the nozzle 5.

The relative positional relationship between the optical axis 13 of the camera 3 and the mechanical reference plane 9 is known. The real images of the nozzle 5 and the defining portion 7 formed on the image pickup surface of the camera 3 are overhead projection views. Based on a known relative positional relationship between the optical axis 13 of the camera 3 and the mechanical reference plane 9, the relative positional relationship between the nozzle 5 and the jet flow 6 is absolutely calculated from the overhead projection view. You can When only the shape of the jet flow 6 is important and the relative positional relationship between the jet flow 6 and the mechanical reference plane 9 is not important, only the shape of the jet flow 6 is calculated.

FIG. 3 shows another embodiment of the injection angle measuring device according to the present invention. The present embodiment is applied to a three-point linear injection nozzle. Nozzle 5
The jet fluid 6 has the jet ports at three points, and the jet fluid 6 forms three linear jet streams 6-1, 2, 3. Camera 3 not shown
The optical axis of is aligned with one line orthogonal to the background surface 2 of the background screen 1. A part of the background surface 2 exists in the viewing angle range of the camera 3 for photographing the three linear streamlines 6-1, 2, 3 and the nozzle 5.

A laser beam emission point 42 is set at a point A. A plane beam or a linear beam is emitted from the emission point 42. The planar beam is selectively fired at two angular positions. The linear beam is selectively fired on the two planes at the two angular positions and scan-fired on the respective planes in the proper angular range. The linear beam or the plane beam is hereinafter referred to as a laser beam 41.

The laser beam 41 simultaneously intersects with the upper three points A, B and C. The other laser beams 41 simultaneously intersect at the lower three points A ′, B ′, C ′. The laser beam 41 is scattered at six points in a wide angle range at each point. The diameter of the linear jet flows 6-1, 2, 3 is about 1 mmφ. The background surface 2 is green and the laser beam 4
1 is a He-Ne laser, which is red. Alternatively, the background surface 2 is red and the laser beam 41 is an Ar laser and is blue. In addition, or the background surface 2 is black,
The laser beam 41 is a white laser which is a mixture of three primary color lasers. The background surface 2 is appropriately heated, and the laser beam 41 is an infrared laser having high sensitivity to the image pickup surface of the infrared camera. The amount of the laser beam 41 absorbed by the linear jet streams 6-1, 2 and 3 is small, and the laser beam 41 is emitted from the multi-value grayscale electronic display screen 14 and the linear jet stream 6-
The laser beam 41 that passes through the laser beam 3 passes through another linear jet flow 6-
The probability of irradiation of 1 and 2 is zero or close to zero.

The linear jet streams 6-1, 2, 3 which have been irradiated with the laser beam 41 have six points A, B, C, A ', B',
The scattered light is scattered by C ′, and the scattered light forms a real image on the imaging surface of the camera 3. The nozzle 5 is rotated and the other 6 points A, B,
C, A ', B', C'is photographed. One set of two-dimensional coordinate values of 6 points and another set of two-dimensional coordinate values of 6 points determine the equations of the three straight lines AA ′, BB ′, CC ′. Such three straight lines are described with respect to the mechanical reference plane 9 of the nozzle 5, the respective angles between the three straight lines and the center line of the mechanical reference plane 9, the three straight lines and the mechanical reference plane 9 Determine respective angles with the plane 10 orthogonal to the.

The angle between the straight line AA 'and the plane 10 is called an elevation angle and is an important design value in mechanical design. As a model of the linear injection nozzle (needle-shaped nozzle), the relative rotation angle α and the elevation angle θ around the center line 11 of the plurality of linear injection flows are used and expressed by α-θ. A nozzle that jets a linear jet in three directions on one plane is represented by "120-0", and a nozzle that jets a linear jet in four directions on one plane is represented by "90-0". A nozzle that injects a linear jet flow on one conical surface in three directions at an elevation angle of 60 degrees is "120-6.
A nozzle that is represented by 0 "and that ejects a linear jet flow in one direction on a conical surface in four directions at an elevation angle of 60 degrees is represented by" 90-60 ". A nozzle that ejects at 60 degrees is represented by “45-60.” When θ is 0, one of the plurality of optical axes of the camera 3 that is set is
It is set parallel to the center line 11. For the above-described measurement of the linear jet flow of the three-way nozzle, the nozzle 5 and the linear jet flow 6 are used.
Is imaged at three rotation positions, and for the above-described measurement of the linear jet flow of the n-direction nozzle, the nozzle 5 and the linear jet flow 6 are imaged at the n rotation position, which is a highly accurate measurement point. desirable.

In the n-direction nozzle, the proper rotation angle of the nozzle 5 is j.360 / n. Here, j is 1 or an integer larger than 1. If n is 8, it is appropriate that j is 1 or 3, and the nozzle 5 is rotated at a rotation angle of 45 degrees or 135 degrees, and three times of photographing are performed. If the jet flow is ideally designed, the images should perfectly match with such rotation. However, the detection of the slight deviation between the three images captured by the two rotations is performed by detecting the jet flow. Enables highly accurate detection of deviations from the ideal design. The photographing is preferably performed simultaneously by two cameras or three cameras.

FIG. 4 shows image processing of the luminance (density which is the luminance for comparison of light and shade) on the line in the angular direction which passes through the point A and is sufficiently separated from the linear jet flow 6-3. The output luminance pattern represents the extracted luminance pattern. The brightness is specifically increased only at the point A, and the presence of the point A is clearly detected. FIG. 5 shows a luminance pattern in which the luminance on the line passing through the points A and A ′ thus detected is extracted by image processing. The brightness is specifically increased only at the points A and B, the presence of the points A and B is clearly detected, and the straight line AA ′ is clearly detected. When a laser beam is applied to a solid jet ejected in the shape of a cone, it is difficult to detect the conical surface shape clearly due to the attenuation of the laser intensity in the jet and the scattering of each point in the jet. Met. It has been found that it is effective to take a picture of the jet as a projection view in order to take a picture of the shape of a solid jet under the distinction from the background. For shooting solid jets, indoor ordinary electric lights, mercury lamps, LD diffused beams, and E
Multi-directional irradiation of L diffused beams is appropriate.

Arrangement method and calculation method of equipment: A camera with a two-dimensional coordinate value (a CCD camera with a two-dimensional coordinate value) is fixed. The nozzle 5 is rotatably fixed. The rotation center line 11 of the nozzle 5 is immovable with respect to the camera 3. It is preferable that the camera 3 and the nozzle 5 be integrally fixed to one movable imaging table. By such fixing, the camera 3 and the nozzle 5 are set to the common coordinate system. A coordinate system, especially a rectangular coordinate system, is fixedly set on the image pickup surface of the CCD camera 3. A marker line is fixedly set as a reference line in the orthogonal coordinate system. The center line 11, which is the reference line fixed to the nozzle 5, can be selected as the marker line. A marker line set on the camera 3 side,
The marker line set on the nozzle 5 side has a mathematically (geometrically) necessary and sufficient relationship.

In the case of a solid jet: It is not necessary to perform the grayscale image processing on all the outlines of the captured image of the solid jet fluid forming the conical surface. By a simple shade check, areas with shade differences can be easily searched. A processing area including that area is adopted. 1 as processing area
A rectangular area whose sides are sufficiently longer than the other sides is set on the imaging screen. In the processing area, one of the plurality of thresholds is selected in order, and the boundary line of the binary image subjected to the grayscale processing for the threshold is found in a scanning manner with respect to many thresholds. With the threshold, a continuous line in the processing area is extracted. The continuous line is detected at a plurality of different rotational positions of the two cameras or the nozzle 5. The two-dimensional coordinates of the multipoint positions on the continuous line are represented by a multi-dimensional simultaneous linear relationship.

On the basis of a multi-dimensional simultaneous linear relationship (based on a plurality of two-dimensional expressions for expressing one point in a multi-faceted manner),
The three-dimensional direction between multiple points, especially between two points, is calculated. The center line of the pseudo-conical surface is obtained by selecting a plurality of processing areas. The three-dimensional direction of the marker line cannot be defined by the straight line appearing on the imaging surface. 2 taken from 2 directions
By comparing one image line with one marker line, the three-dimensional orientation of the marker line is established. The marker line can be set on the nozzle 5. The centerline 11 of the nozzle 5 is strictly mechanically determined and the camera 3
If the mechanical relative positional relationship between the imaging surface of the optical axis and the optical system of the optical axis is strictly set, the center line 11 of the nozzle 5 and the camera 3
The geometrical conditions with the optical system can be strictly determined. Therefore, the marker line is defined in a common coordinate system that positions the camera 3 and the nozzle 5.

The rotation angle of the nozzle 5 on the reference plane is determined by a rotation angle detector (example: encoder, potentiometer) attached to a rotation angle control motor (example: servo motor) that supports the nozzle 5 and rotates the nozzle 5. Detected,
The nozzle 5 is rotationally fixed at a known angular position (its rotational position is retained). By detecting the deviation between the marker line and the jetting direction line 12 at a rotational angle position that is larger than the number of rotational positions that is mathematically sufficient, the setting angle error of the center line 11 of the nozzle 5 and the optical system of the camera 3 are detected. Since it is possible to detect the setting error of, it is possible to correct the error.

In case of linear jet: Basically, it is the same as in the case of solid jet. Center line 1 if elevation is zero
It is preferable to match the optical axis of the camera 3 with 1. When measuring only one of the plurality of linear jets, it is preferable to move the optical axis parallel to the center line 11. When the elevation angle is not zero, it is preferable to align the optical axis of the camera 3 with the direction line passing through the center line 11 and orthogonal to the center line 11. The rotational angle position of the nozzle 5 that maximizes the elevation angle of the linear jet is searched for. The elevation angle at the rotation angle position of the nozzle 5 where the elevation angle of the linear jet flow is maximum is the true elevation angle. The measurement of the angle α in the circumferential direction is set so that the optical axis faces the vertical line.

FIG. 6 shows an optical system and a calculation system of an embodiment of the injection angle measuring device according to the present invention. The optical system is
It is composed of a CCD camera 3 and a screen 1.
The camera 3 has a CCD image forming surface (image pickup surface coordinate system) 21
Are formed. The optical axis of the lens 22 is the optical axis 1 described above.
It matches 3. The angle between the CCD image forming surface 21 and the reference optical axis 13 is set to a right angle. The relative positional relationship between the reference optical axis line 13 and the center line 11 is mechanically set. The nozzle 5 is rotated by the servo motor 23. A common coordinate system is set in the space including the reference optical axis line 13 and the center line 11. The Cartesian coordinate system xy defined on the CCD image forming surface 21 is defined by the common coordinate system.

The light intensity of the real image of the nozzle 5 and the defined portion 7 formed on the CCD image forming surface 21 of the camera 3 is the voltage signal 2
4 and output from the camera 3 to the image processor 25.
Entered in. The voltage signal F is a function of the coordinates x and y and is represented by F (x, y). Step 1: The voltage signal F (x, y) is subjected to a plurality of steps of gradation processing by the image processor 25. The maximum voltage for shooting at that time is E. This E is divided into n stages.
n-stage voltage signals 0 to E / n, E / n to 2E / n, ...
.., (n-1) E / n to E are shaded. The gradation is color-coded in n steps, and the multi-step gradation image 26 is displayed on the display 27. The measurer looks at the image on the display 27 and further looks at the shape of the defined portion 7, and the density region jE / n to (j +) close to the shape.
1) E / n can be known. The image processor 25 calculates (n-1) density differences between adjacent density areas of the plurality of density areas, and two density areas k indicating the maximum density difference are displayed.
Discover E / n to (k + 1) E / n. Such discoveries can be performed artificially or electronically.

Step 2: Density kE / n and density (k +
1) Any one of E / n or a large value thereof is selected as the threshold value Ek. Concentration area kE / n
And the density region (k + 1) E / n, and the density region k
A partial area 28, which is a boundary area between E / n and the density area (k + 1) E / n, is cut out from the image.

Step 3: The image processor 25 uses the threshold value Ek.
The image is binarized based on the above. The binarized grayscale signal 29 based on the binarized grayscale processing is a binary binary function or a multiple binary binary function of the coordinates x and y. The binarized grayscale signal 29 is input to the three-dimensional line segmentation calculator 31 and the display 27. The display 27 visualizes the binarized grayscale signal 29 in the visual coordinate system 32 set on the screen of the display 27, as shown in FIG. 7. Figure 7
Indicates a line segment 33 that is a boundary between two density regions.

Step 4: Line segment 33 is a function of coordinates x, y. Each of a plurality of line segments 33 cut out from a plurality of images by photographing the nozzle 5 and the defining portion 7 rotated by the servo motor 23 by the camera 3 from a plurality of angular positions. Based on the two-dimensional expression function having the multidimensional first-order two-dimensional information of
The three-dimensional line segmentation calculator 31 executes a three-dimensional representation of the line segment 33.

Step 5: The center line 11 is set on the CCD image forming surface 21 as a marker line. Or 3
The three-dimensional line segmentation calculator 31 executes a three-dimensional representation of the center line 11 by photographing the mechanical reference plane 9 of the nozzle 5 each time and calculating the photographed image. The partial region 28 is cut out at a plurality of places (appropriately three places) around the defined portion 7. Three-dimensional line segmentation calculator 31
Executes the three-dimensional representation of the injection direction line 12 based on the plurality of three-dimensional representations of the plurality of line segments 33. Step 6: The three-dimensional line segmentation calculator 31 uses the center line 1
The final calculation result 34, which is the angle β between 1 and the injection direction line 12, is calculated and obtained. The final calculation result 34 is displayed on the display 3
It is displayed in 5. Regarding the linear jet flow, the above-mentioned α-θ which is the final calculation result is output from the three-dimensional line segmenting calculator 31 and displayed on the display 35.

[0041]

The injection angle measuring device according to the present invention, and
The jet angle measurement method can measure the shape of the jet flow without contact, does not damage the nozzle, and does not have an object that changes the hydrodynamic characteristics of the nozzle, such as a measurement pin, so Direct measurement of the jet flow is possible and true angle can be measured. The setting of the common coordinate system improves and improves the measurement accuracy. The rays used for imaging have virtually no physical effect on the jet.

[Brief description of drawings]

FIG. 1 is a front view showing an embodiment of an injection angle measuring device according to the present invention.

FIG. 2A and FIG. 2B are screens showing two images respectively.

FIG. 3 is a front view showing another embodiment of the injection angle measuring device according to the present invention.

FIG. 4 is a screen showing a processed image.

FIG. 5 is a screen showing another processed image.

FIG. 6 is a circuit block diagram showing a calculation circuit of an embodiment of an injection angle measuring device according to the present invention.

FIG. 7 is a screen showing still another processed image.

[Explanation of symbols]

2 ... background 3 ... camera 5 ... Nozzle 6 ... Jet stream 6-1, 2, 3 ... Linear jet 9 ... Mechanical reference plane 11 ... Rotation axis center line (center line, mechanical reference line) 12 ... Center line 21 ... Imaging surface (imaging surface coordinate system) 25 ... Computer 31 ... Computer 33 ... Boundary line (line segment)

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Takeo Hirasaki             2-1-1 Niihama, Arai-cho, Takasago, Hyogo Prefecture             Takasago Works, Mitsubishi Heavy Industries, Ltd. (72) Inventor Kiyofumi Inaba             2-1-1 Niihama, Arai-cho, Takasago, Hyogo Prefecture             Takasago Works, Mitsubishi Heavy Industries, Ltd. (72) Inventor Hiroshi Yatabe             2-8-19 Niihama, Arai-cho, Takasago-shi, Hyogo             Takaryo Engineering Co., Ltd. F term (reference) 2F065 AA32 FF04 FF42 GG04 GG23                       HH04 HH12 JJ03 JJ09 JJ26                       QQ03 QQ04

Claims (11)

[Claims] 1. A support base for rotatably supporting a nozzle, and a camera for photographing an object to be photographed, which is a combination of a jet flow ejected from the nozzle and a background, the camera being fixed to the nozzle. An image pickup surface coordinate system defined in the nozzle fixed coordinate system is provided, and an image pickup surface for converting a light quantity into an electric signal corresponding to the two-dimensional coordinates of the image pickup surface coordinate system is provided, which corresponds to the jet flow and the background. And an image processor that extracts a boundary line between the jet flow and the background based on the electric signal output from the imaging surface, and a calculator that executes a three-dimensional representation of the boundary line in the nozzle fixed coordinate system. Further, the three-dimensional representation is an injection angle measuring device that is executed by solving a multi-dimensional simultaneous equation based on a plurality of the electrical signals corresponding to a plurality of relative positional relationships between the camera and the object to be imaged. . 2. The jet angle measuring device according to claim 1, wherein the background color and the jet color are different from each other. 3. The jet angle measuring device according to claim 2, wherein the camera is a three-primary color camera, and the background color and the jet color are selected from two of the three primary colors. 4. The camera is an infrared camera.
Injection angle measuring device. 5. The injection angle measuring device according to claim 1, wherein the nozzle is rotatable and the rotation axis of the nozzle is fixed to the nozzle fixed coordinate system. 6. The jet angle measuring device according to claim 1, further comprising a light source for emitting a laser beam, wherein the jet stream is formed by a plurality of linear jet streams, and the laser beam is irradiated to two positions of the linear jet stream. . 7. The jet angle measuring device according to claim 6, wherein the color of the laser beam and the color of the background are different from each other. 8. The nozzle according to claim 1, wherein the nozzle has a mechanical reference plane, and the positional relationship between the center line of the jet flow and the mechanical reference plane is defined by the nozzle fixed coordinate system. The injection angle measuring device according to claim 1, which is selected. 9. A multi-dimensional simultaneous equation in which a relative angle α of the plurality of linear jets around the center line and an elevation angle θ defined with respect to the mechanical reference plane of the plurality of linear jets are used. The injection angle measuring device according to claim 8, which is calculated by the calculator based on 10. A set of the following steps: a step of setting a mechanical reference line on a nozzle by a machine tool; a step of artificially setting the nozzle on a support base; Artificially arranging a camera having an imaging plane coordinate system; creating a plurality of images by the camera by imaging the jet ejected from the nozzle in a multifaceted manner on the imaging coordinate system; Binarizing each image to create a plurality of binarized images by a computer; and the machine based on a plurality of line segments appearing in the plurality of binarized images and represented by two-dimensional coordinates. Calculating an angle of the jet with respect to a dynamic reference line by a computer. 11. A jetting angle measuring method further comprising the step of photographing a background with the camera, wherein the color of the background and the color of light scattered by the jet flow are different from each other.