CN112164021A - Image measuring method and device for spacecraft load vibration - Google Patents
Image measuring method and device for spacecraft load vibration Download PDFInfo
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- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H9/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by using radiation-sensitive means, e.g. optical means
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Abstract
The invention relates to a spacecraft load vibration measurement technology, in particular to an image measurement method for spacecraft load vibration. The technical scheme adopted by the invention is as follows: an image measurement method for spacecraft load vibration comprises the following steps: step one, installing a mark sheet and an image measuring device; step two, establishing a data reference library of the marking sheet profile image and the three-dimensional amplitude; measuring the three-dimensional amplitude of the object to be measured, comparing the contour image of the mark sheet with the image measuring device according to the data reference library by the image measuring device after the image measuring device collects the contour image of the mark sheet, and finding the mark sheet corresponding to the contour imageAmplitude F in three dimensionsX、FY、FZMeanwhile, the image measuring device can obtain the vibration frequency of the marking sheet according to the vibration circulation times of the marking sheet in each second; the invention also provides an image measuring device for the load vibration of the spacecraft.
Description
Technical Field
The invention relates to a spacecraft load vibration measurement technology, in particular to an image measurement method and a measurement device for spacecraft load vibration.
Background
At present, the spacecraft adopts vibration sensors to measure the low-frequency vibration frequency and the amplitude of a load, the method is contact measurement, each sensor can only measure the response in one direction, if three sensors are needed for measuring the three-dimensional amplitude, the structure installation is complex, the cost of the spacecraft vibration measurement is improved, and the method cannot be applied to certain specific spacecraft flight environments.
Disclosure of Invention
The invention provides an image measuring method and device for spacecraft load vibration, which are used for solving the problems of high cost, complex structure and narrow application field of the conventional spacecraft vibration measurement.
The technical scheme adopted by the invention is as follows: an image measurement method for spacecraft load vibration comprises the following steps:
1) mounting mark sheet and image measuring apparatus
The method comprises the following steps of uniformly distributing N marking pieces on the surface of an object to be measured, wherein N is more than or equal to 3, installing an image measuring device on the wall of a spacecraft, arranging the image measuring device opposite to the N marking pieces, and collecting all contour images of the N marking pieces by the image measuring device through binarization processing and connected domain marking of images.
The binarization processing and connected domain labeling operations of the N label patches are as follows:
1.1) preprocessing the images of N marking pieces to obtain a binary image, so that the pixel value of each pixel point is only 1 and 0, wherein 1 represents a white image point, and 0 represents a black image point;
1.2) traversing the binary image, finding out a point mark with a first pixel value of 1 as 1, and marking all the points with pixel values of 1 in the 8 neighborhoods as 1;
if the point with the second pixel value of 1 is marked, skipping the pixel point, and continuing traversing, otherwise, marking the pixel point as 2, marking all the points with the pixel values of 1 in the 8-neighborhood region with the pixel point as 2, and so on until the last point with the pixel value of 1 is marked as n;
1.3) integrating all marked pixel points in the step 1.2, if the pixel point marked as 1 and the pixel points marked as other marks (marked as 2, 3 and … … n) have adjacent pixel points, changing the marks of the pixel points marked as other marks into 1, and so on, wherein the pixel points marked as the same after integration are all adjacent pixels, and can be regarded as a communication area;
1.4) analyzing each communication area, if the pixel point marks in the first communication area are all 1, taking the four fields with the first mark 1 for analysis, if the four fields have pixel points with the same mark as the first mark and the number of the pixel points is more than one, continuing analyzing the four fields of each pixel point of the four fields, if the four adjacent fields of the pixel point still have the pixel points with the same mark as the first mark, deleting the mark of the pixel point, and otherwise, keeping the pixel point mark; by analogy, after the above processing is performed on each connected region, the final retained image is the outline image of each mark sheet.
2) Establishing a data reference library of a marking sheet outline image and three-dimensional amplitude
2.1) simulating the object to be measured on the ground to vibrate in different amplitudes in the three-dimensional direction;
2.2) the image measuring device collects the corresponding N marker slice outline images under different amplitude vibrations and calculates the three-dimensional amplitude F of the mass center of the N marker slices under different amplitude vibrationsX、FY、FZ；
The image measuring device calculates three-dimensional amplitudes F of the N marking piecesX、FY、FZThe method comprises the following steps:
2.2.1) establishing a three-dimensional rectangular coordinate system by taking the focus of the image measuring device as the origin of the three-dimensional coordinate system;
2.2.2) the image measuring device extracts the pixel point coordinates and the number of the pixel points of each marker slice outline image according to the collected N marker slice outline images;
2.2.3) the image measuring device calculates the average value of the pixel point coordinates of each marking piece, namely the image centroid coordinates of the N marking pieces;
2.2.4) measuring the actual distance between any two N mark piece centroids, and resolving the position and posture by a three-point method according to the actual distance and the image centroid coordinates of the N mark pieces to obtain the target distance from the N mark piece centroids to the focus;
2.2.5) calculating the difference value between the static state target distance and the vibration state target distance of the object to be measured, and obtaining the amplitude of the object to be measured.
2.3) establishing the outline images of the N marking pieces and the three-dimensional amplitude FX、FY、FZA database reference library therebetween;
3) measuring three-dimensional amplitude of an object to be measured
When an object to be measured vibrates in the operation process, after the image measuring device collects the outline images of the N marking pieces, the image measuring device compares the outline images with the data reference library to find the amplitude F of the mass centers of the N marking pieces corresponding to the outline images in the three-dimensional directionX、FY、FZ。
Further, in step 3), the image measuring device measures and obtains the vibration frequency of the object to be measured according to the number of vibration cycles of the mark sheet per second while measuring the three-dimensional amplitude of the object to be measured.
Further, in the step 1), the N marking pieces are all circular, or the N marking pieces are all rectangular, or the N marking pieces are all cross-shaped.
Further, the outer surface colors of the N marking pieces are black or white so as to obtain the optimal image contrast.
Further, when 1 marking piece is arranged, 3 or more than 3 characteristic points can be selected on the marking piece for amplitude measurement calculation;
the invention also provides an image measuring device for the load vibration of the spacecraft, which comprises N marking sheets and an image measuring device, wherein the N marking sheets are uniformly distributed on the surface of an object to be measured, the image measuring device is arranged on the wall of the spacecraft and is opposite to the N marking sheets, and the image measuring device can acquire all contour images of the N marking sheets.
Compared with the prior art, the invention has the following beneficial effects.
According to the image measuring method for the spacecraft load vibration, the used image measuring device is safe and reliable, multiple tests are performed on the ground in a simulation mode, a data reference library between the marker plate outline image and the three-dimensional amplitude of the object to be measured is obtained, and the accuracy and reliability of data collected by the image measuring device are improved; the image measuring device finds the amplitude corresponding to the marker plate outline image in actual flight, achieves measurement and analysis of the amplitude of the spacecraft under special applications such as flight and high temperature, and has the advantages of simple structure, low measurement cost, non-contact measurement, safety, reliability, wide application field and the like.
According to the image measuring method for the load vibration of the spacecraft, disclosed by the invention, the amplitude is measured through the image measuring device, and meanwhile, the number of times of unit time vibration circulation of the marking sheet can be acquired, so that the measurement of the load vibration frequency of the spacecraft is completed.
The image measuring method for the spacecraft load vibration, which is adopted by the invention, is characterized in that N marking pieces are used for marking an object to be measured, so that the problem of large single-point measurement error is avoided, and the accuracy of amplitude measurement of the image measuring device is improved.
Drawings
Fig. 1 is a schematic structural diagram of an image measuring device for spacecraft load vibration according to the invention.
Fig. 2 is a schematic structural diagram of a marker plate in the image measuring device for spacecraft load vibration according to the invention.
FIG. 3 is a schematic diagram of a connected domain marker in an embodiment of an image measurement method for spacecraft load vibration according to the present invention.
FIG. 4 is a schematic structural diagram of a three-point method pose resolving model in an embodiment of the image measuring method for spacecraft load vibration.
In the figure: 1-marking sheet, 2-image measuring device.
Detailed Description
The technical solution of the present invention will be clearly and completely described below with reference to the embodiments of the present invention and the accompanying drawings, and it is obvious that the described embodiments do not limit the present invention.
The image measurement method for the load vibration of the spacecraft in the embodiment comprises the following steps:
1) mounting mark sheet and image measuring apparatus
As shown in fig. 1, 3 marking pieces 1 are uniformly distributed on the surface of an object to be measured, an image measuring device 2 is installed on the wall of a spacecraft and is arranged opposite to the 3 marking pieces, and the image measuring device 2 acquires all contour images of the 3 marking pieces 1 through binarization processing and connected domain marking of images. As shown in fig. 2, the 3 marking pieces 1 are all circular, or the 3 marking pieces 1 are all rectangular, or the 3 marking pieces 1 are all cross-shaped, and the outer surface color of the 3 marking pieces 1 is black or white to obtain the optimal image contrast.
The binarization processing and connected component labeling operations for the 3 label patches 1 are as follows:
1.1) preprocessing images of 3 marking pieces 1 to obtain a binary image, so that the pixel value of each pixel point is only 1 and 0, wherein 1 represents a white image point, and 0 represents a black image point;
1.2) traversing the binary image, finding out a point mark with a first pixel value of 1 as 1, and marking all the points with pixel values of 1 in the 8 neighborhoods as 1;
if the point with the second pixel value of 1 is marked, skipping the pixel point, and continuing traversing, otherwise, marking the pixel point as 2, marking all the points with the pixel values of 1 in the 8-neighborhood region with the pixel point as 2, and so on until the last point with the pixel value of 1 is marked as n;
1.3) integrating all the marked pixel points in the step 1.2, as shown in fig. 3, if the pixel point marked as 1 and the pixel points marked as other marks (marked as 2, 3 and … … n) have adjacent pixel points, changing the marks of the pixel points marked as other marks into 1, and so on, and after integration, all the pixel points marked as the same are adjacent pixels, namely a communication area;
1.4) analyzing each communication area, if the pixel point marks in the first communication area are all 1, taking the four fields with the first mark 1 for analysis, if the four fields have pixel points with the same mark as the first mark and the number of the pixel points is more than one, continuing analyzing the four fields of each pixel point of the four fields, if the four adjacent fields of the pixel point still have the pixel points with the same mark as the first mark, deleting the mark of the pixel point, and otherwise, keeping the pixel point mark; by analogy, after the above processing is performed on each connected region, the final retained image is the outline image of each mark sheet.
2) Establishing a data reference library of a marking sheet outline image and three-dimensional amplitude
2.1) simulating the object to be measured on the ground to vibrate in different amplitudes in the three-dimensional direction;
2.2) the image measuring device 2 collects the corresponding 3 marking sheet 1 contour images under different amplitude vibrations and calculates the three-dimensional amplitude F of the 3 marking sheets 1 under different amplitude vibrationsX、FY、FZ；
The method for calculating the three-dimensional amplitudes of the 3 marker patches 1 by the image measuring device 2 is as follows:
2.2.1) establishing a three-dimensional rectangular coordinate system by taking the focus of the image measuring device 2 as the origin of the three-dimensional coordinate system;
2.2.2) the image measuring device 2 extracts the pixel point coordinates and the number of the pixel points of the contour image of each marking sheet (1) according to the collected contour images of the 3 marking sheets (1);
2.2.3) the image measuring device 2 calculates the average value of the pixel point coordinates of each marking piece 1, namely the image centroid coordinates of 3 marking pieces (1);
2.2.4) measuring the actual distance between any two centroids of the 3 marking pieces 1, and resolving the actual distance and the coordinates of the image centroids of the 3 marking pieces 1 through a three-point normal posture to obtain the target distance from the centroids of the 3 marking pieces 1 to the focus;
2.2.5) calculating the difference value between the static state target distance and the vibration state target distance of the object to be measured, and obtaining the amplitude of the object to be measured.
2.3) establishing 3 contour images and three-dimensional amplitude F of the marking pieces 1X、FY、FZA database reference library therebetween;
3) measuring three-dimensional amplitude of an object to be measured
When the object to be measured vibrates in the operation process, after the image measuring device 2 collects the outline images of the 3 marking pieces 1, the image measuring device 2 compares the outline images with the data reference library to find out the amplitude F of the 3 marking pieces 1 corresponding to the outline images in the three-dimensional directionX、FY、FZ。
In step 3), the image measuring device 2 measures the three-dimensional amplitude of the object to be measured and measures and obtains the vibration frequency of the object to be measured according to the number of vibration cycles of the mark sheet 1 in each second.
As shown in fig. 4, three-point pose calculation specifically calculates three-dimensional coordinates of 3 centroids as follows:
A. b, C, the mass center of the load vibration of 3 marker chips 1 is shown, and the lengths of AB, AC and BC can be obtained by the step 2.2);
the image centroids of the 3 centroids in the image measuring device 2 are set as a ', B ', and C ', wherein the image coordinates of a ', B ', and C ' are known, and meanwhile, the focal point is set as O, and the distance from the O point to the image plane a ' B ' C ' is the focal length of the camera;
the lengths of A ' B ', B ' C ', A ' C ', and the lengths of OA ', OB ', and OC ' can be obtained from the data parameters, and then the values of < A ' OC ', < A ' OB ', < B ' OC ' can be found according to the following formula:
the values of angle a 'OC', "a 'OB'," B 'OC', and since the lengths of AB, AC, and BC are known, the lengths of OC, OB, and OA can be calculated using angle a 'OC', "a 'OB'," B 'OC', AB, AC, and BC, and for the sake of simplicity of the formula, a ═ a 'OB', β ═ a 'OC', γ ═ B 'OC', a ═ BC, B ═ AC, c ═ AB, x ═ OA, y ═ OB, and z OC can be expressed as follows:
wherein a, b, c, alpha, beta and gamma are known quantities, x, y and z are quantities to be solved, and the three-dimensional coordinates of 3 centroids can be solved through the above formula.
The invention also provides an image measuring device for load vibration of the spacecraft, which comprises 3 marking pieces 1 and an image measuring device 2, wherein the 3 marking pieces 1 are uniformly distributed on the surface of an object to be measured, the image measuring device 2 is arranged on the wall of the spacecraft and is opposite to the 3 marking pieces 1, and the image measuring device 2 can acquire all contour images of the 3 marking pieces 1.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structural changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. An image measurement method for spacecraft load vibration is characterized by comprising the following steps:
1) mounting mark sheet and image measuring apparatus
The method comprises the following steps of fixedly connecting a marking sheet (1) to the surface of an object to be measured, installing an image measuring device (2) on the wall of a spacecraft, wherein the image measuring device is arranged opposite to the marking sheet (1), and the image measuring device (2) can acquire all contour images of the marking sheet (1);
2) establishing a data reference library of a marking sheet outline image and three-dimensional amplitude
2.1) simulating the object to be measured on the ground to vibrate in different amplitudes in the three-dimensional direction;
2.2) the image measuring device (2) collects corresponding marking sheet (1) contour images under different amplitude vibrations, and calculates the three-dimensional amplitude F of the mass center of the marking sheet (1) under different amplitude vibrationsX、FY、FZ；
2.3) establishing a contour image and three-dimensional amplitude F of the marking sheet (1)X、FY、FZA database reference library therebetween;
3) measuring three-dimensional amplitude of an object to be measured
When an object to be measured vibrates in the operation process, after the image measuring device (2) collects the outline image of the marking sheet (1), the image measuring device (2) compares the outline image with the data reference library to find the amplitude F of the mass center of the marking sheet (1) corresponding to the outline image in the three-dimensional directionX、FY、FZ。
2. The image measurement method of spacecraft load vibration according to claim 1, characterized in that: in the step 3), the image measuring device (2) measures the three-dimensional amplitude of the object to be measured and measures and obtains the vibration frequency of the object to be measured according to the vibration cycle times of the marking sheet (1) in each second.
3. The image measurement method of spacecraft load vibration according to claim 2, characterized in that: in the step 1), the marking sheet (1) is round, rectangular or cross-shaped.
4. A method of image measurement of spacecraft load vibration according to claim 2 or 3, wherein: in the step 1), N marking sheets (1) are arranged, wherein N is more than or equal to 3, and the colors of the outer surfaces of the N marking sheets (1) are black or white so as to obtain the optimal image contrast.
5. The image measurement method of spacecraft load vibration according to claim 4, characterized in that: in step 2.2), the image measuring device (2) calculates the three-dimensional amplitude F of the marking piece (1)X、FY、FZThe method comprises the following steps:
2.2.1) establishing a three-dimensional rectangular coordinate system by taking the focus of the image measuring device (2) as the origin of the three-dimensional coordinate system;
2.2.2) the image measuring device (2) extracts the pixel point coordinates and the pixel point number of the contour image of each marking sheet (1) according to the collected contour images of the N marking sheets (1);
2.2.3) the image measuring device (2) calculates the average value of the pixel point coordinates of each marking piece (1), namely the image centroid coordinates of the N marking pieces (1);
2.2.4) measuring the actual distance between the centroids of any two N marking pieces (1), and resolving the position and posture by a three-point method according to the actual distance and the image centroid coordinates of the N marking pieces (1) to obtain the target distance from the centroids of the N marking pieces (1) to the focus;
2.2.5) calculating the difference value between the static state target distance and the vibration state target distance of the object to be measured, and obtaining the amplitude of the object to be measured.
6. The image measurement method of spacecraft load vibration according to claim 5, characterized in that: in the step 2.2), the image measuring device (2) collects all contour images of the marking sheet (1) through image binarization processing and a connected domain marking method in sequence.
7. An image measuring device of spacecraft load vibration is characterized in that: the image measuring device comprises a marking sheet (1) and an image measuring device (2), wherein the marking sheet (1) is arranged on the surface of an object to be measured, the image measuring device (2) is arranged on the wall of a spacecraft and is opposite to the marking sheet (1), and all contour images of the marking sheet (1) can be acquired by the image measuring device (2).
8. An image measuring device of spacecraft load vibration according to claim 7, characterized in that: the number of the marking pieces (1) is N, wherein N is more than or equal to 3, and the N marking pieces (1) are uniformly distributed on the surface of the object to be measured.
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