CN110579627A - PIV experimental device with automatic calibration device and use method thereof - Google Patents
PIV experimental device with automatic calibration device and use method thereof Download PDFInfo
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Abstract
the invention discloses a PIV experimental device with an automatic calibration device, which comprises an observation panel and the automatic calibration device, wherein the observation panel is provided with an observation domain, the observation domain is internally divided with a plurality of measurement domains with circular boss structures, and the automatic calibration device is arranged right opposite to the observation domain; the automatic calibration device comprises a supporting seat, a high-speed camera, a manipulator for fixing the high-speed camera and a control unit for controlling the action of the manipulator, wherein the manipulator is arranged on the supporting seat and comprises a vertical lifting mechanism, a horizontal telescopic mechanism and a rotating mechanism for connecting the vertical lifting mechanism and the horizontal telescopic mechanism; the control unit is used for controlling the work of the vertical lifting mechanism, the horizontal telescopic mechanism and the rotating mechanism. After the PIV experiment device is adopted, the experiment is more efficient, the PIV experiment device can be suitable for shooting by different cameras, and the universality and the intelligence are higher. The invention provides a use method for a PIV experimental device.
Description
Technical Field
The invention relates to a PIV experimental device, in particular to a PIV experimental device with an automatic calibration device.
The invention also relates to a use method of the automatic calibration device for the PIV experimental device.
Background
The use of PIV experimental apparatus is common in the detection of fluid or multiphase flows. The principle of the method is that an optical camera is used for shooting trace particles or other particle phases, and then a vector field and a velocity field of a target (such as the particle phase in solid and liquid phases) in the experiment are obtained through computer post-processing. When the PIV device is used, the distance between the high-speed camera and the observation field and the focal length of the high-speed camera need to be adjusted, so that the image of the observation field can be displayed on a computer more clearly.
However, the existing high-speed camera placing device only has the functions of bearing and manual translation, and most of the test time is needed to be spent for correcting each test, so that the waste of manpower and the waste of resources are caused. In the process industry, the application of multiphase flow mixing transportation is quite wide, wherein the influence of fluid (mainly comprising multiphase flow) on a transportation device in transportation still has many problems, especially the requirement of scientific researchers and industry to carry out the motion mechanism of multiphase flow in the transportation device according to the current situation, and the selection of a test device determines the accuracy of the test and the high efficiency of the test in terms of time. Intelligent, efficient and accurate experiments are always an ideal direction for engineering and scientific research personnel.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the PIV experiment device with the automatic calibration device, which can more reasonably, quickly and effectively establish the PIV experiment.
The technical scheme adopted by the invention for solving the technical problems is as follows: a PIV experimental facility with an automatic calibration device comprises an observation panel and the automatic calibration device, wherein the observation panel is provided with an observation domain, the observation domain is internally divided with a plurality of measurement domains with circular boss structures, and the automatic calibration device is arranged right opposite to the observation domain;
the automatic calibration device comprises a supporting seat, a high-speed camera, a manipulator for fixing the high-speed camera and a control unit for controlling the action of the manipulator, wherein the manipulator is arranged on the supporting seat and comprises a vertical lifting mechanism, a horizontal telescopic mechanism and a rotating mechanism for connecting the vertical lifting mechanism and the horizontal telescopic mechanism;
The control unit is used for controlling the work of the vertical lifting mechanism, the horizontal telescopic mechanism and the rotating mechanism.
The invention has the beneficial effects that: the manipulator has at least three degrees of freedom, can stretch out and draw back in the horizontal direction, go up and down in the vertical direction, and realize swinging through the rotary mechanism, and the high-speed camera passes through the manipulator, and under the control of control unit, realizes organically action combination. When the experimental device is not used, the mechanical arm rotates clockwise 90 degrees to a vertical position by using the rotating mechanism so as to be in a put-down state; when the manipulator is used, the front end of the manipulator rotates 90 degrees anticlockwise. When the control unit calculates the corresponding focal length and the object distance, the focal length of the camera is adjusted according to the value of the focal length and by using the focal length adjusting device (namely, the lens of the camera is rotated by using the focal length adjusting device, so that the focal length value of the camera is the same as that calculated by a computer), and meanwhile, the position to which the cylinder on the front arm of the manipulator moves is the same as that of the calculated object distance. During operation, to the particle in the observation domain, the measuring field can increase the reflective power of focusing, if a certain set of measuring field is close to the fluid, so the foreign matter is usually attached to, cause the picture that high-speed camera was taken in, the measuring field often is not complete circle, so through taking the measuring field of observation domain to earlier stage and screening, select the most suitable measuring field, according to the definition in measuring field again, utilize manipulator and control unit to adjust the position and the focus of high-speed camera. After the PIV experiment device is adopted, the experiment is more efficient, the PIV experiment device can be suitable for shooting by different cameras, and the universality and the intelligence are higher.
Further setting the following steps: the vertical lifting mechanism is a vertical cylinder which is vertically arranged; the horizontal telescopic mechanism is a horizontal cylinder which is vertically arranged; the rotating mechanism comprises a vertical connecting seat fixed with the vertical cylinder and a horizontal connecting seat fixed with the horizontal cylinder, the horizontal connecting seat is rotationally arranged on the vertical connecting seat through a hinged shaft, a driven gear is fixed on the surface of the horizontal connecting seat, a driving gear meshed with the driven gear is rotationally arranged on the vertical connecting seat, a servo motor is further arranged on the vertical connecting seat, and an output shaft of the servo motor is coaxially connected with the driving gear; the vertical cylinder, the horizontal cylinder and the servo motor are all controlled by the control unit. The vertical cylinder, the horizontal cylinder and the servo motor are simpler and more convenient to control, the control precision of the servo motor is high, and the experimental accuracy is improved.
further setting the following steps: and the upper part and the lower part of the horizontal cylinder are respectively provided with an obstacle sensor which is used for sensing obstacle signals from the periphery and transmitting the obstacle signals to the control unit so as to control the work of the vertical cylinder, the horizontal cylinder and the servo motor. The setting of obstacle sensor helps improving automatic calibration device's security, avoids experimental facilities's damage.
The method is further provided with the following steps: the measurement domain is a convex spherical structure. The convex spherical structure can more accurately reflect the attached foreign matters, thereby eliminating a measurement domain which is not suitable for observation.
In order to overcome the defects of the prior art, the invention provides a use method for the PIV experimental device, which is used for calibrating the position and the focal length of the PIV camera through a function model, improving the identification of trace particles in the PIV experimental device and further improving the experimental environment of the PIV experimental device.
The technical scheme adopted by the invention for solving the technical problems is as follows: the use method of the automatic calibration device for the PIV experimental device adopts the PIV experimental device and comprises the following steps:
Step 1, screening out two measurement domains with the largest area in an observation domain through an image processing system, and respectively defining the two measurement domains as a measurement domain A and a measurement domain B;
Step 2, importing the image in the observation domain into an image processing system for gray processing, and obtaining the gray value h of the measurement domain A (B)tThe standard gray value of the preset measurement domain is H ═ Ht(a)；
Step 3, establishing the gray value h of the measurement domain A (B)tAs a function of the focal length f and the object distance u of the camerathe relationship isFitting(β0、β1、β2、β3、β4、β5is constant);
Step 4, using an algorithm of parameter estimation in the multivariate linear regression to obtain a plurality of groups of focal lengths f and object distances u and corresponding gray scales htestimating the corresponding parametersI.e. correspondinglyIs constant and the corresponding function is(b)；
and 5, obtaining a relational expression among the object distance u, the image distance v and the focal distance f on the basis of the object distance u, the image distance v and the focal distance f of one convex lens of the high-speed camera lens, wherein the relational expression is as follows:And obtain(c)；
step 6, taking the distance from the center of the lens group of the high-speed camera to the negative film of the high-speed camera as a film distance D, and according to the principle of camera imaging, when the image formed by the object falls on the negative film of the high-speed camera, v ═ D (D); simultaneous functions (a), (b), (c), and (d) yield:
calculating f ═ ψ (D, H) and u ═ ψ (D, H);
And 7, controlling the object distance and the focal distance of the high-speed camera distance measurement domain through an automatic calibration device according to the focal distance f and the object distance u obtained in the step 6.
The invention has the beneficial effects that: the manipulator has at least three degrees of freedom, can stretch out and draw back in the horizontal direction, go up and down in the vertical direction, and realize swinging through the rotary mechanism, and the high-speed camera passes through the manipulator, and under the control of control unit, realizes organically action combination. During operation, to the particle in the observation domain, the measuring field can increase the reflective power of focusing, if a certain set of measuring field is close to the fluid, so the foreign matter is usually attached to, cause the picture that high-speed camera was taken in, the measuring field often is not complete circle, so through taking the measuring field of observation domain to earlier stage and screening, select the most suitable measuring field, according to the definition in measuring field again, utilize manipulator and control unit to adjust the position and the focus of high-speed camera. After the PIV experiment device is adopted, the experiment is more efficient, the PIV experiment device can be suitable for shooting by different cameras, and the universality and the intelligence are higher.
Further setting the following steps: measuring the gray value h of the domain A (B) in the step 2tObtained by a weighted average method, ht＝0.3R+0.6G+0.1B。
the method is further provided with the following steps: f ψ (D, H) and u ψ (D, H) in step 6 are solved by matlab software,
Drawings
FIG. 1 is a schematic diagram of a measurement domain according to an embodiment of the present invention.
fig. 2 is a schematic structural diagram of an automatic calibration device according to an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
The first embodiment is as follows: as shown in fig. 1 and 2, the present embodiment includes an observation panel 1 and an automatic calibration device 2, the observation panel 1 is provided with an observation domain 11, and a plurality of measurement domains 12 with circular spherical structures are divided in the observation domain 11. The automatic calibration device 2 is arranged right opposite to the observation domain 11, the automatic calibration device 2 comprises a support base 21, a high-speed camera 22, a manipulator 23 used for fixing the high-speed camera, and a control unit (not shown) used for controlling the action of the manipulator 23, the manipulator is installed on the support base 21, and the manipulator comprises a vertical lifting mechanism, a horizontal telescopic mechanism and a rotating mechanism 233 used for connecting the vertical lifting mechanism and the horizontal telescopic mechanism. The control unit controls the vertical lifting mechanism, the horizontal telescopic mechanism and the rotating mechanism to work through lines, and the line control is conventional connection to realize data transmission of control signals.
The vertical lifting mechanism is a vertical cylinder 231 which is vertically arranged; the horizontal telescopic mechanism is a horizontal cylinder 232 which is vertically arranged; the rotating mechanism 233 comprises a vertical connecting seat 2331 fixed with the vertical cylinder 231 and a horizontal connecting seat 2332 fixed with the horizontal cylinder 232, the horizontal connecting seat 2332 is rotatably arranged on the vertical connecting seat 2331 through a hinge shaft, a driven gear 2334 is fixed on the surface of the horizontal connecting seat 2332, a driving gear 2333 meshed with the driven gear 2334 is rotatably arranged on the vertical connecting seat 2331, a servo motor 2335 is further arranged on the vertical connecting seat 2331, and the output shaft of the servo motor 2334 is coaxially connected with the driving gear 2333; the vertical cylinder 231, the horizontal cylinder 232, and the servo motor 2335 are all controlled by a control unit. In addition, the upper and lower portions of the horizontal cylinder 232 are respectively installed with an obstacle sensor 3, and the obstacle sensor 3 is used for sensing an obstacle signal from the surroundings and transmitting the signal to the control unit to control the operations of the vertical cylinder 231, the horizontal cylinder 232, and the servo motor 2335, which helps to improve the safety of the automatic calibration apparatus 2 and prevent the experimental device from being damaged. The control unit is S7-300PLC of Siemens, which is the most common PLC for devices such as an industrial control manipulator, and the PLC is a whole set of control system comprising software control and execution elements (control chips).
Example two: the present embodiment relates to the method of use of embodiment one. The present embodiment includes the following steps:
Step 1, screening out two measurement domains 12 with the largest area in an observation domain 11 through an image processing system, and respectively defining the two measurement domains as a measurement domain A and a measurement domain B;
Step 2, leading the image in the observation domain 11 into an image processing system in the control unit for gray processing, and obtaining the gray value h of the measurement domain A (B)tthe standard gray value of the preset measurement domain is H ═ Ht(a)；
Step 3, establishing the gray value h of the measurement domain A (B)tThe functional relationship between the focal length f and the object distance u of the camera isfitting(β0、β1、β2、β3、β4、β5Is constant);
step 4, using an algorithm of parameter estimation in the multivariate linear regression to obtain a plurality of groups of focal lengths f and object distances u and corresponding gray scales htEstimating the corresponding parametersI.e. correspondinglyis constant and the corresponding function is(b)；
And step 5, based on the object distance u, the image distance v and the focal length f of one convex lens in the lens of the high-speed camera 22, obtaining a relational expression among the object distance u, the image distance v and the focal length f as follows:And obtain(c)；
step 6, taking the distance from the center of the lens group of the high-speed camera 22 to the negative film of the high-speed camera as a film distance D, and according to the principle of camera imaging, when the image formed by the object falls on the negative film of the high-speed camera 22, v ═ D (D); simultaneous functions (a), (b), (c), and (d) yield:
calculating f ═ ψ (D, H) and u ═ Φ (D, H);
and 7, controlling the object distance and the focal distance of the high-speed camera distance measurement domain through an automatic calibration device according to the focal distance f and the object distance u obtained in the step 6.
Wherein, the gray value h of the measurement domain A (B) in the step 2tobtained by a weighted average method, ht＝0.3R+0.6G+0.1B。
The use of the parameter estimation in the multiple linear regression in step 4 is based on the existing theory, and may be referred to as "mathematical statistics" wang xin version P198 (chapter v regression analysis 4 parameter estimation of multiple linear regression).
F ψ (D, H) and u ψ (D, H) in step 6 are solved by matlab software,
according to the characteristics of the existing high-speed camera 22, the clearest image distance D of the high-speed camera 22 is 30mm, and the standard gray-scale value of image processing is 0.85. Fitting a multiple linear regression equation with a gray value of 0.85-1 and a focal length value of 0-30 mm according to experimental data, wherein the multiple linear regression equation comprises the following steps:
Wherein beta is0＝8.14，β1＝9.06，β2＝1.27，β3＝-9.13，β4＝-6.32，β5＝0.98；
Will be provided withAnd D ═ v, the following formula can be obtained:
0.85＝8.14+9.06f+1.27f2-9.13u-6.32u2+0.98fu；
The solution is obtained according to the above formula,
when H is 0.85 and D is 30 mm: 1.2138 (f-29.1927, f-1.2138, f-105.3781, left off) mm, and u-1.2645 m. That is, at this time, the high-speed camera 22 can obtain the clearest image information of the PIV experiment when the focal length f is 1.2138mm and the object distance u is 1.2645m under the control of the automatic calibration device 2.
the specific using method is as above, and the adjustment parameters of the focal length f and the object distance u are adjusted accordingly according to the parameters of the high-speed camera 22, the observation field conditions in the experimental environment, and other factors, but no matter how the adjustment is made, the actual calculation scheme is obtained by sequentially calculating according to the above steps.
For example, depending on the experimental environment, especially when H is 0.85 and D is 25mm under different image distance requirements: 1.1941(f is-24.7895, f is-1.3908, f is 87.1438, left) mm, u is 1.2540 m;
when H is 0.85 and D is 20 mm: 1.1661(f is-20.3819, f is-1.4018, f is 68.9167, left) mm, u is 1.2383 m;
When H is 0.90 and D is 30 mm: 1.2099(f is-29.1939, f is-1.3785, f is 105.3782, left) mm, u is 1.2607 m;
When H is 0.90 and D is 25 mm: 1.1902 (f-24.7910, f-1.3857, f-87.1439, left off) mm, u-1.2497 m;
when H is 0.90 and D is 20 mm: 1.1624 (f-20.3836, f-1.3965, f-68.9170, left off) mm, and u-1.2341 m.
Then, the change of the focal length f and the object distance u is controlled by the control unit, thereby achieving an optimized photographing state. The focal length f can be adjusted manually by the high-speed camera 22, or the control unit can control the focal length f of the high-speed camera 22 by the existing communication protocol, so as to realize automatic control.
In addition, because there are sometimes multiple sets of convex lenses within the high-speed camera 22, calculations can also be performed for multiple sets of convex lenses as models of a single set of convex lenses. Considering the model purely from the mathematical point of view, regarding the process of lens imaging as the relation of function mapping, each group of convex lenses corresponds to a projective transformation, that is, the function relation can be directly written into by the multiple groups of lenses, and by using the characteristics of the selected high-speed camera 22 (that is, the specific function relation formed by the different multiple groups of lenses), the function relation among the focal length, the image distance and the object distance used in the model calculation of the single group of convex lenses is replaced, so as to solve the focal length and the object distance of the selected high-speed camera 22, and complete the calculation of the experimental device adjustment. Therefore, whether the high-speed camera 22 used in practice is a multi-group convex lens or a single group of convex lenses, the final calculation result can be achieved through the above steps.
Claims (7)
1. A PIV experimental facility with an automatic calibration device is characterized by comprising an observation panel and the automatic calibration device, wherein the observation panel is provided with an observation domain, the observation domain is divided into a plurality of measurement domains with circular boss structures, and the automatic calibration device is arranged right opposite to the observation domain;
The automatic calibration device comprises a supporting seat, a high-speed camera, a manipulator for fixing the high-speed camera and a control unit for controlling the action of the manipulator, wherein the manipulator is arranged on the supporting seat and comprises a vertical lifting mechanism, a horizontal telescopic mechanism and a rotating mechanism for connecting the vertical lifting mechanism and the horizontal telescopic mechanism;
the control unit is used for controlling the work of the vertical lifting mechanism, the horizontal telescopic mechanism and the rotating mechanism.
2. The PIV experiment apparatus with the automatic calibration device as claimed in claim 1, wherein the vertical lifting mechanism is a vertically arranged vertical cylinder;
the horizontal telescopic mechanism is a horizontal cylinder which is vertically arranged;
The rotating mechanism comprises a vertical connecting seat fixed with the vertical cylinder and a horizontal connecting seat fixed with the horizontal cylinder, the horizontal connecting seat is rotationally arranged on the vertical connecting seat through a hinged shaft, a driven gear is fixed on the surface of the horizontal connecting seat, a driving gear meshed with the driven gear is rotationally arranged on the vertical connecting seat, a servo motor is further arranged on the vertical connecting seat, and an output shaft of the servo motor is coaxially connected with the driving gear;
The vertical cylinder, the horizontal cylinder and the servo motor are all controlled by the control unit.
3. The PIV testing apparatus having an automatic calibrating device according to claim 1, wherein obstacle sensors for sensing an obstacle signal from the surroundings and transmitting it to the control unit to control the operation of the vertical cylinder, the horizontal cylinder and the servo motor are installed at the upper and lower portions of the horizontal cylinder, respectively.
4. the PIV experiment apparatus with the automatic calibration device as claimed in claim 1, wherein the measurement field is a convex spherical structure.
5. a use method of an automatic calibration device for a PIV experimental device adopts the PIV experimental device as claimed in claims 1-4, and is characterized by comprising the following steps:
step 1, screening out two measurement domains with the largest area in an observation domain through an image processing system, and respectively defining the two measurement domains as a measurement domain A and a measurement domain B;
Step 2, importing the image in the observation domain into an image processing system for gray processing, and obtaining the gray value h of the measurement domain A (B)tthe standard gray value of the preset measurement domain is H ═ Ht(a)；
Step 3, establishing the gray value h of the measurement domain A (B)tThe functional relationship between the focal length f and the object distance u of the camera isFitting(β0、β1、β2、β3、β4、β5is constant);
Step 4, using an algorithm of parameter estimation in the multivariate linear regression to obtain a plurality of groups of focal lengths f and object distances u and corresponding gray scales htestimating the corresponding parametersi.e. correspondinglyis constant and the corresponding function is(b)；
and 5, obtaining a relational expression among the object distance u, the image distance v and the focal distance f on the basis of the object distance u, the image distance v and the focal distance f of one convex lens of the high-speed camera lens, wherein the relational expression is as follows:and obtain(c)；
Step 6, taking the distance from the center of the lens group of the high-speed camera to the negative film of the high-speed camera as a film distance D, and according to the principle of camera imaging, when the image formed by the object falls on the negative film of the high-speed camera, v ═ D (D); simultaneous functions (a), (b), (c), and (d) yield:
F ═ phi (D, H) and u ═ phi (D, H) were calculated;
And 7, controlling the object distance and the focal distance of the high-speed camera distance measurement domain through an automatic calibration device according to the focal distance f and the object distance u obtained in the step 6.
6. The use method of the automatic calibration device for the PIV experimental facility as claimed in claim 5, wherein: measuring the gray value h of the domain A (B) in the step 2tObtained by a weighted average method, ht＝0.3R+0.6G+0.1B。
7. The method of claim 5, wherein f ψ (D, H) and u φ (D, H) are solved by matlab software in step 6,
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