CN102121821A - Image measuring method for compression quantity of tyre and axle displacement in drop test - Google Patents
Image measuring method for compression quantity of tyre and axle displacement in drop test Download PDFInfo
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- CN102121821A CN102121821A CN 201010602704 CN201010602704A CN102121821A CN 102121821 A CN102121821 A CN 102121821A CN 201010602704 CN201010602704 CN 201010602704 CN 201010602704 A CN201010602704 A CN 201010602704A CN 102121821 A CN102121821 A CN 102121821A
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- 230000033001 locomotion Effects 0.000 claims abstract description 9
- 238000005259 measurement Methods 0.000 claims description 18
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 239000000284 extract Substances 0.000 claims description 4
- 238000005070 sampling Methods 0.000 claims description 4
- 230000004807 localization Effects 0.000 claims description 3
- 239000003550 marker Substances 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 239000011159 matrix material Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
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- 238000000605 extraction Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
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Abstract
The invention discloses an image measuring method for compression quantity of a tyre and an axle displacement in a drop test. The axle displacement is obtained by the steps of arranging a mark pattern on an axle, acquiring high-speed photographic images of a wheel during moving, and tracking and positioning marks in each frame image, and the compression quantity of the tyre is obtained by simple calculation. In the image measuring method, the marks arranged on the axle are used as measuring objects, high-speed photographic digital images of the machine wheel and the marks are captured by a high-speed camera in the drop test, and impact of the motion of the machine wheel on a measuring device and difficulty in installation are avoided due to non-contact measuring.
Description
Technical field
The present invention relates to image measurement technology, be used for the tire decrement and the wheel axial translation of survey aircraft landing gear drop test, particularly the image measuring method of drop-test tire decrement and wheel axial translation.
Background technology
The wheel tire is the very important components that guarantees takeoff and landing safety.In the undercarriage drop-test, need to measure wheel tire decrement.
Drop-test simulated aircraft landing mission, the wheel prerotation moves and falls from certain altitude with undercarriage during test.Because the existence of wheel rotator inertia, tire moment of contacting to earth is subjected to the fierce impact of frictional ground force, undercarriage leg moment flexural deformation, wheel sharply vibration (referring to Fig. 5) significantly in the horizontal direction also is subjected to the impact of contacting to earth in vertical direction under the effect of pillar elastic force.In this case, common tire decrement measurement mechanism is often failed or is undesirable.
Measurement for the tire decrement, usually all connect via mechanical system, survey vertical deviation method, single pole slip rocker-arm angle measurement degree reckoning vertical deviation method, two backguy displacement transducer formula triangle measuring wheel track shaft methods etc. as bumping the parallelogram connection-rod formula firmly, damage under wheel contacts to earth clashing of moment and displacement impact invariably and maybe can not follow, these suffice to show that contact type measurement is inapplicable at this.Though non-contact displacement transducer is also arranged at present, as laser, Hall element displacement transducer, but because of back prop bending of tire kiss the earth or rocking arm rotation, structure original motionless on the wheel is also rotated thereupon, big displacement is also arranged simultaneously in the horizontal direction, and this just causes keeping sensor to be in vertical direction the tire decrement is measured always.Be by the picture pin is installed on wheel shaft in addition, to the aluminium sheet of the coating printing ink wheel track shaft that draws, not only error is big for this, and has lost temporal information fully, and the automatic measurement technology of other parameters seems extremely backward relatively.
Summary of the invention
The objective of the invention is, overcome the shortcoming that prior art can not adapt to physical shock and difficulty is installed, the image measuring method of a kind of measuring wheel tire decrement and wheel axial translation is provided.
Purpose of the present invention is achieved through the following technical solutions, the image measuring method of drop-test tire decrement and wheel axial translation, and step is as follows:
1) on the wheel shaft of wheel side, telltale mark is set;
2) undercarriage is risen to tire and contact the load platform just, adjust high-speed camera, and with alignment lens wheel side and set mark;
3) video camera is demarcated, so that determine on the wheel shaft gauge point move the physical coordinates system on plane of living in and the relation of image coordinate system, and then can be for realizing by the conversion of gauge point image coordinate value to the physical coordinates value;
4) tire is contacted just the state pickup image of load platform, extract the image coordinate of mark, with nominal data image coordinate is scaled physical coordinates again, as the displacement measurement reference point;
5) keep camera status constant, in the drop-test process, catch the high-speed photography digital picture of wheel and marker motion process;
6) on image, mark is carried out track and localization, obtain its image coordinate, and utilize nominal data that the image coordinate of mark is scaled physical coordinates, promptly obtain the wheel shaft physical coordinates;
7) deduct the vertical coordinate value of reference point with the vertical component of wheel shaft physical coordinates, promptly obtain the wheel shaft perpendicular displacement; Deduct the horizontal coordinate value of reference point with the horizontal component of wheel shaft physical coordinates, promptly obtain the wheel shaft horizontal shift;
8) to each two field picture set by step 6), step 7) handles, and obtains corresponding wheel shaft horizontal shift and the wheel shaft perpendicular displacement constantly of every frame, pot life course graphical representation; And reference point location is exactly displacement is 0 position, is called the zero reference line in curve map; Displacement time history curve is called for short displacement curve, and the intersection point of it and zero reference line is called the curve zero crossing; The perpendicular displacement curve is after zero crossing, the zero reference line is with the corresponding tire decrement in lower part, the zero reference line represents that with top tire jumps out of the height of load platform, promptly working as perpendicular displacement is the absolute value of perpendicular displacement less than 0 hour wheel tire decrement, when perpendicular displacement is 0 more than or equal to 0 hour wheel tire decrement;
9) with test in the alignment of data gathered of other measuring systems: earlier will the above-mentioned image measurement wheel shaft displacement data that obtains with the frame per second of photographing, according to target the data sampling rate of measuring system resamples, again with sometime, for example first zero crossing of displacement curve is a time reference, and the measurement data of these two kinds of systems is alignd in time.
Advantage of the present invention is, as measuring object, is noncontact owing to measure with the mark that is provided with on the wheel shaft, avoided the wheel motion to the impact of measurement mechanism and the difficulty of installing.
Description of drawings
Fig. 1 is that the present invention makes wheel shaft telltale mark synoptic diagram.
Fig. 2 is that tire of the present invention contacts load platform and tire compressive state synoptic diagram just.
Fig. 3 is a multiple labeling wheel shaft of the present invention location synoptic diagram.
Fig. 4 is wheel shaft perpendicular displacement curve, the vertical zero reference line synoptic diagram that the present invention measures.
Fig. 5 is the wheel shaft horizontal shift curve synoptic diagram that the present invention measures.
Fig. 6 is high-speed camera of the present invention and wheel mutual alignment synoptic diagram.
Among the figure: 1. wheel pivotable parts, 2. wheel shaft, 3. telltale mark, 4. load platform, 5.A telltale mark, 6.B telltale mark, 7.C telltale mark.
Embodiment
Now the invention will be further described in conjunction with the accompanying drawings and embodiments, referring to Fig. 1, Fig. 2, Fig. 4, Fig. 5 and Fig. 6, in order to narrate conveniently, if do not distinguish especially, described wheel shaft general reference wheel shaft and fixed wheel thereof be pivotable parts not, if wheel has brake flange, because of brake flange does not rotate yet, described wheel shaft then comprises brake flange.
The image measuring method of drop-test tire decrement and wheel axial translation, step is as follows:
1) on wheel side wheel shaft 2, telltale mark 3 is set;
The color of telltale mark 3 should be beneficial to the formation high-contrast image, as black and white; The shape of telltale mark 3 should be beneficial to the position of determining point by image, as circle, annular, many annulars, diagonal form, cruciform etc.; Being provided with of telltale mark 3 can be used modes such as spraying or stickup;
2) undercarriage is risen to tire and contact load platform 4 just, shown in Fig. 2 left side, adjust high-speed camera, and, be the situation of camera lens as shown in Figure 6 over against the wheel side with alignment lens wheel side and telltale mark 3;
3) video camera is demarcated, so that determine the physical coordinates system on telltale mark 3 motions plane of living in and the relation of image coordinate system, and then can be for realizing by the conversion of telltale mark 3 image coordinate values to its physical coordinates value;
4) tire is contacted just the state of load platform 4, show as Fig. 2 left side, pickup image extracts the image coordinate of telltale mark 3, with nominal data image coordinate is scaled physical coordinates again, as displacement measurement reference point (or claiming zero-bit point);
5) keep camera status constant, in the drop-test process, catch the high-speed photography digital picture of wheel and telltale mark 3 motion processes;
6) on image, telltale mark 3 is carried out track and localization, obtain its image coordinate, and utilize nominal data that the image coordinate of telltale mark 3 is scaled physical coordinates, be i.e. the wheel shaft physical coordinates;
7) deduct the vertical coordinate value of reference point with the vertical component of wheel shaft physical coordinates, promptly obtain wheel shaft perpendicular displacement amount; Deduct the horizontal coordinate value of reference point with the horizontal component of wheel shaft physical coordinates, promptly obtain the wheel shaft horizontal displacement;
8) to each two field picture set by step 6), step 7) handles, obtain corresponding wheel shaft perpendicular displacement and the wheel shaft horizontal shift constantly of every frame, as Fig. 4, shown in Figure 5, displacement pot life course graphical representation, and reference point location is exactly displacement is 0 position, is called the zero reference line in curve map; Displacement time history curve is called for short displacement curve, and the intersection point of it and zero reference line is called the curve zero crossing; The perpendicular displacement curve is after zero crossing, the zero reference line is with the corresponding tire decrement in lower part, the zero reference line represents that with top tire jumps out of the height of load platform 4, as Fig. 4, promptly working as perpendicular displacement is the absolute value of perpendicular displacement less than 0 hour wheel tire decrement, when perpendicular displacement is 0 more than or equal to 0 hour wheel tire decrement, Fig. 2 and for example, wherein d represents the tire decrement;
9) with test in the alignment of data gathered of other measuring systems: earlier will the above-mentioned image measurement wheel shaft displacement data that obtains with the frame per second of photographing, according to target the data sampling rate of measuring system carries out interpolation, sampling, again with sometime, for example first zero crossing of displacement curve is a time reference, and the measurement data of these two kinds of systems is alignd in time.
In order to narrate conveniently, if distinguish especially, described wheel shaft general reference wheel shaft and fixed wheel thereof be pivotable parts not, if wheel has brake flange, because of brake flange does not rotate yet, described wheel shaft then comprises brake flange.
Embodiment 1:
In previous embodiment, video camera is over against tire side and telltale mark 3, it is the vertical wheel of camera lens optical axis side, and as far as possible near wheel shaft, so that the plane of movement of telltale mark 3 is substantially parallel with the video camera imaging plane, and the range of movement of telltale mark 3 is in the image central part, as Fig. 6; Though video camera can not demarcated and be measured over against the tire side yet, be more conducive to improve measuring accuracy over against the tire side.
Embodiment 2:
In previous embodiment, the position of telltale mark 3 is arranged on wheel shaft center, wheel side.
Embodiment 3:
In previous embodiment, it is ideal that the position of telltale mark 3 is arranged on the wheel shaft center, and when undercarriage is a telescopic landing gear, and the diastrophic influence of the pillar of undercarriage is can ignore the time, can be arranged on not pivotable parts what position of taking up an official post of wheel, but good more the closer to the wheel shaft center.
Embodiment 4:
Referring to Fig. 3, in previous embodiment, the wheel shaft center is desirable measurement point position, when telltale mark 3 can't be pasted in the wheel shaft center, can obtain the wheel shaft centre coordinate by the following method:
1) the not rotary part wheel shaft 2(at wheel comprises brake flange) on the be separated by position of big distance paste B telltale mark 6, C telltale mark 7, paste an A telltale mark 5 at wheel pivotable parts 1 again;
2) keep the not rotary part wheel shaft 2 of wheel shaft and wheel static, promptly the B telltale mark 6 on the wheel shaft, C telltale mark 7 are static, and the A telltale mark 5 with wheel pivotable parts 1 turns to different positions and absorbs respective image simultaneously;
3) B telltale mark 6 and the C telltale mark 7 to the A telltale mark 5 on the wheel pivotable parts 1, wheel shaft 2 located in the image that obtains, obtain the respective center coordinate figure, the coordinate of A telltale mark 5 each positions is done the circle match, get central coordinate of circle, be the wheel shaft centre coordinate, obtain the offset vector at relative B telltale mark 6 in wheel shaft 2 centers and C telltale mark 7 centers again;
4) owing to wheel shaft 2 centers, B telltale mark 6, C telltale mark 7 threes are relatively-stationary, therefore can determine wheel shaft 2 centers by B telltale mark 6, C telltale mark 7 centers and relativity shift vector conversely; According to above method, replace telltale mark 3 among Fig. 1 with two marks, and obtain the wheel shaft 2 centers offset vector of these two marks relatively earlier, in each two field picture, two marks are located, and try to achieve the wheel shaft centre coordinate in conjunction with the relativity shift vector; Other step process are constant.
Can from open source literatures such as a lot of books and periodicals, obtain method at present to camera calibration, but accurately the process of demarcating is all more numerous and diverse usually, introduce a kind of approximate linear camera model method at this, use when can be for measuring accuracy less demanding, promptly in embodiment 1, use plane target drone,, demarcate as normally used black and white gridiron pattern target:
1) the relative shooting distance of thickness of supposition plane target drone is very little, ignores at this, and the plane target drone back side is abutted against on the wheel shaft telltale mark 3, so just can be similar to think that plane, the positive place of target is exactly the plane of movement of mark (3); Adjust the target angle, make on the target tessellated 2 border sensing levels respectively to vertical to, and as x axle, the y axle of physical coordinates system, they are parallel with u axle, the v axle of image coordinate system respectively in image;
2) picked-up target cross-hatch pattern picture, the image coordinate of tessellated each angle point of extraction; Extract the method for angle point image coordinate, also have open source literature can supply to consult at present;
3) the gridiron pattern size is known, and promptly the physical coordinates of the angle point of each grid in aforementioned coordinate system is known, and wherein the z coordinate figure of all angle points all is 0;
4) for linear video camera, exist a projection matrix M, matrix M that 3 row, 4 row totally 12 elements are arranged from the physics homogeneous coordinates [x, y, z, 1] of angle point to image homogeneous coordinates [u, v, 1], be unknown undetermined; Usually gridiron pattern has tens angle points, with the physical coordinates of these angle points after projection matrix M conversion theoretical value and the image coordinate of the corresponding angle point of actual extracting carry out least square fitting, can obtain the approximate value of 12 elements among the M;
5) 12 elements of the Metzler matrix of utilization acquisition, the physical coordinates of any point on the target plane [x, y] just can be represented with the image coordinate [u, v] of respective point conversely, so the image coordinate value by wheel shaft telltale mark 3 can obtain its physical coordinates value, promptly finishes the wheel shaft displacement measurement.
Claims (1)
- Drop-test tire decrement and the wheel axial translation image measuring method, it is characterized in that step is as follows:On the wheel shaft of wheel side, telltale mark is set;Undercarriage is risen to tire contact the load platform just, adjust high-speed camera, and with alignment lens wheel side and set mark;Video camera is demarcated, so that determine on the wheel shaft gauge point move the physical coordinates system on plane of living in and the relation of image coordinate system, and then can be for realizing by the conversion of gauge point image coordinate value to the physical coordinates value;Tire is contacted the state pickup image of load platform just, extract the image coordinate of mark, with nominal data image coordinate is scaled physical coordinates again, as the displacement measurement reference point;Keep camera status constant, in the drop-test process, catch the high-speed photography digital picture of wheel and marker motion process;On image, mark is carried out track and localization, obtain its image coordinate, and utilize nominal data that the image coordinate of mark is scaled physical coordinates, promptly obtain the wheel shaft physical coordinates;Deduct the vertical coordinate value of reference point with the vertical component of wheel shaft physical coordinates, promptly obtain the wheel shaft perpendicular displacement; Deduct the horizontal coordinate value of reference point with the horizontal component of wheel shaft physical coordinates, promptly obtain the wheel shaft horizontal shift;To each two field picture set by step 6), step 7) handles, and obtains corresponding wheel shaft horizontal shift and the wheel shaft perpendicular displacement constantly of every frame, pot life course graphical representation; And reference point location is exactly displacement is 0 position, is called the zero reference line in curve map; Displacement time history curve is called for short displacement curve, and the intersection point of it and zero reference line is called the curve zero crossing; The perpendicular displacement curve is after zero crossing, the zero reference line is with the corresponding tire decrement in lower part, the zero reference line represents that with top tire jumps out of the height of load platform, promptly working as perpendicular displacement is the absolute value of perpendicular displacement less than 0 hour wheel tire decrement, when perpendicular displacement is 0 more than or equal to 0 hour wheel tire decrement;The alignment of data of gathering with other measuring systems in the test: earlier will the above-mentioned image measurement wheel shaft displacement data that obtains with the frame per second of photographing, according to target the data sampling rate of measuring system resamples, first zero crossing with displacement curve is a time reference again, and the measurement data of these two kinds of systems is alignd in time.
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| CN2010106027048A CN102121821B (en) | 2010-12-23 | 2010-12-23 | Image measuring method for compression quantity of tyre and axle displacement in drop test |
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| CN2010106027048A CN102121821B (en) | 2010-12-23 | 2010-12-23 | Image measuring method for compression quantity of tyre and axle displacement in drop test |
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| CN102506727A (en) * | 2011-10-28 | 2012-06-20 | 中联重科股份有限公司 | Method and system for measuring vibration displacement of arm support and concrete pump truck comprising same |
| WO2013060017A1 (en) * | 2011-10-28 | 2013-05-02 | 中联重科股份有限公司 | Arm support vibration displacement measurement method, system thereof and concrete pump truck with same |
| CN104613922A (en) * | 2015-02-26 | 2015-05-13 | 中国科学技术大学 | Object outline measurement system and method |
| CN105333848A (en) * | 2015-11-23 | 2016-02-17 | 西安航空制动科技有限公司 | Device and method for measuring aircraft tire compression amount |
| CN106033028A (en) * | 2016-05-18 | 2016-10-19 | 奇瑞汽车股份有限公司 | Method for setting dummy in automobile collision test |
| CN106091963A (en) * | 2016-05-25 | 2016-11-09 | 江西洪都航空工业集团有限责任公司 | Undercarriage fault detection method based on noncontact vision |
| CN107132060A (en) * | 2017-06-27 | 2017-09-05 | 山东建筑大学 | Tyre tread drainage experimental bench and experimental method |
| CN107328363A (en) * | 2017-08-10 | 2017-11-07 | 小小自动化科技(昆山)有限公司 | A kind of automobile brake brake disc comprehensive detection machine |
| CN107884210A (en) * | 2017-11-18 | 2018-04-06 | 哈尔滨工业大学（威海） | A kind of tire obstacle detouring mechanical response comprehensive test device |
| CN108426547A (en) * | 2017-02-13 | 2018-08-21 | 株式会社大福 | Inspection system |
| CN109360241A (en) * | 2018-10-17 | 2019-02-19 | 江西洪都航空工业集团有限责任公司 | One camera measures three-dimensional undercarriage wheel center displacement method |
| CN109632280A (en) * | 2018-12-29 | 2019-04-16 | 湖北航天技术研究院总体设计所 | A kind of vibration isolator test device |
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| CN114034456A (en) * | 2021-11-03 | 2022-02-11 | 辽宁通用航空研究院 | Automatic control device and method for drop test |
| CN114485358A (en) * | 2022-02-14 | 2022-05-13 | 湖北工业大学 | A kind of wheel axle parallelism measurement method and its measurement platform |
| WO2023028955A1 (en) * | 2021-09-02 | 2023-03-09 | Telefonaktiebolaget Lm Ericsson (Publ) | Method and apparatus for measurement |
| CN117029697A (en) * | 2023-10-08 | 2023-11-10 | 中国飞机强度研究所 | Device for measuring space displacement dynamic image of landing gear wheel shaft of carrier-based aircraft drop test |
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| CN102506727A (en) * | 2011-10-28 | 2012-06-20 | 中联重科股份有限公司 | Method and system for measuring vibration displacement of arm support and concrete pump truck comprising same |
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| CN107132060B (en) * | 2017-06-27 | 2023-08-22 | 山东建筑大学 | Tire pattern drainage test bench and test method |
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| CN112352137B (en) * | 2018-05-25 | 2023-03-14 | 艾美创有限公司 | Motion encoder |
| CN112352137A (en) * | 2018-05-25 | 2021-02-09 | 艾美创有限公司 | Motion encoder |
| CN109360241B (en) * | 2018-10-17 | 2022-03-15 | 江西洪都航空工业集团有限责任公司 | Method for measuring center displacement of three-dimensional undercarriage wheel by single camera |
| CN109360241A (en) * | 2018-10-17 | 2019-02-19 | 江西洪都航空工业集团有限责任公司 | One camera measures three-dimensional undercarriage wheel center displacement method |
| CN109632280A (en) * | 2018-12-29 | 2019-04-16 | 湖北航天技术研究院总体设计所 | A kind of vibration isolator test device |
| WO2023028955A1 (en) * | 2021-09-02 | 2023-03-09 | Telefonaktiebolaget Lm Ericsson (Publ) | Method and apparatus for measurement |
| CN114034456A (en) * | 2021-11-03 | 2022-02-11 | 辽宁通用航空研究院 | Automatic control device and method for drop test |
| CN114034456B (en) * | 2021-11-03 | 2024-03-01 | 辽宁通用航空研究院 | Automatic control device and method for drop test |
| CN114485358A (en) * | 2022-02-14 | 2022-05-13 | 湖北工业大学 | A kind of wheel axle parallelism measurement method and its measurement platform |
| CN114485358B (en) * | 2022-02-14 | 2023-11-24 | 湖北工业大学 | Axle parallelism measuring method and measuring platform thereof |
| CN117029697B (en) * | 2023-10-08 | 2024-01-05 | 中国飞机强度研究所 | Device for measuring space displacement dynamic image of landing gear wheel shaft of carrier-based aircraft drop test |
| CN117029697A (en) * | 2023-10-08 | 2023-11-10 | 中国飞机强度研究所 | Device for measuring space displacement dynamic image of landing gear wheel shaft of carrier-based aircraft drop test |
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