CN205426389U - Force measuring device based on image recognition - Google Patents
Force measuring device based on image recognition Download PDFInfo
- Publication number
- CN205426389U CN205426389U CN201520977936.XU CN201520977936U CN205426389U CN 205426389 U CN205426389 U CN 205426389U CN 201520977936 U CN201520977936 U CN 201520977936U CN 205426389 U CN205426389 U CN 205426389U
- Authority
- CN
- China
- Prior art keywords
- image recognition
- connecting cylinder
- external force
- binocular camera
- deformation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The utility model discloses a force measuring device based on image recognition, include: dynamometry elastomer, connecting cylinder, two mesh camera and image recognition treater, the dynamometry elastomer is located the one end of connecting cylinder, the dynamometry elastomer is hemispherically when atress not, two mesh cameras are fixed in the other end of connecting cylinder, the image recognition treater is used for receive real -time and handles the image that two mesh cameras absorbed to reach the size and orientation of external force. The utility model discloses introduce image processing's novel mode, principle simple to use has realized force measuring device's simplification, low costization, has advantages such as good interference immunity, environmental suitability.
Description
Technical field
This utility model relates to a kind of power measurement technology, particularly to a kind of force measuring device based on image recognition.
Background technology
At present, the operation principle of force measuring device substantially has two kinds.A kind of change that its intrinsic physical property occurs when being to measure Cucumber stress effect, thus records the size of active force, such as force transducers such as piezoelectric type, magnetoelasticity formula and type vibration wires；Another kind is to utilize to be made dynamometry distortional elastomer by dynamometry, and the degree deformed by measurement is measured by the size of dynamometry, such as the force transducer such as resistance-strain type, condenser type.But, current all these device for measuring force also exist following shortcoming: the most price of sensor of employing is high, and manufacturing cost and maintenance cost are the highest.The slightly lower device for measuring force of cost is but easily subject to interference, such as strong electromagnetic, temperature impact, does not adapt to multiple applied environment etc..And most of low cost device for measuring force can only measure the size of power of specific direction, and multi-axis force transducer is relatively costly and principle is complicated.
Created many papers related to this and patent in the last few years.As follows:
China publication number: CN103353365A, title: a kind of point-contact pin-type force sensor.This utility model is sequentially arranged three cydariform boss on shank is axial, and arranges electricresistancestraingauge between which, and then the power of measurement.This utility model can measure the power of different directions, and measurement result repeats to read, precision is high, be applicable to big load.But needing to arrange multiple electricresistancestraingauge, manufacturing cost and maintenance cost are high, and easily by electromagnetic interference.
China publication number: CN1514216A, title: a kind of photoelectricity string-vibrating force-measuring device and force measuring method thereof.This utility model, according to the difference of metallic cord frequency of vibration under different active forces, is converted into photoelectricity frequency by laser and photoelectric position-sensitive device the frequency of vibration of metallic cord, thus measures the size of loading force.The advantage of this utility model is the noise that electromagnetic induction method can be avoided easily to be brought by the strong electromagnetic of measure field, has certain stability.But this utility model requires high, element cost height, maintenance cost height and can not measure the direction of power the accuracy of manufacture.
China publication number: CN103134621A, title: the transverse load test structure of H type force-measuring framework.This utility model is provided with a kind of H type structure to measure the size of load.This utility model is possible not only to the relation of load and the output voltage obtaining putting on frame construction, obtains the quasistatic relation of the load putting on frame construction and the strain of frame construction fatigue damage key position simultaneously.But this utility model also fails to realize measuring the direction of power, and electromagnetism interference performance is the most weak.
Utility model content
The purpose of this utility model is that the shortcoming overcoming prior art is with not enough, a kind of force measuring device based on image recognition is provided, this force measuring device overcome manufacture and maintenance cost is higher, fail the direction of measurement power, interference free performance difference etc. problem, can accurately measure the size and Orientation of power, there is preferable interference free performance, also adapt to various use environment.
The purpose of this utility model is achieved through the following technical solutions: a kind of force measuring device based on image recognition, the hardware components of described force measuring device includes dynamometry elastomer, connecting cylinder, binocular camera, image recognition processor etc..Wherein, described dynamometry elastomer is positioned at connecting cylinder one end, presents hemispherical during non-stress, and dynamometry elastomeric material can select flexibly according to using environment, has multi-environment adaptability；Described binocular camera, is fixed on the other end of connecting cylinder；Described image recognition processor, for real-time reception and process the image that binocular camera is absorbed, draws the size and Orientation of external force.
Described force measuring device based on image recognition includes following assembly:
Dynamometry elastomer: be positioned at connecting cylinder top, presents hemispherical during non-stress.Its surface scribbles uniform identification point according to certain rule, is used for positioning and identifying.When there being external force to be applied to it, the size that will produce Dish deformation, deformation quantity and external force can regard the Hooke's law meeting by stages as, therefore can calculate external force size according to deformation quantity.Deformation direction is consistent with external force, therefore can calculate external force direction.The selection of dynamometry elastomeric material, can select according to practical situations, such as under hot environment, and optional resistant to elevated temperatures elastomeric material；Under sour environment, optional acidproof elastomeric material.Therefore, this utility model has very strong adaptability to applied environment.When safeguarding after using a period of time, only need to change elastomeric material, therefore maintenance cost is extremely low.
Binocular camera: be fixed on the connecting cylinder other end, with the status image of real time shooting elastomeric material, and can be sent to image recognition processor.The 3D rendering model of elastomeric material can be drawn within a processor, analyze the deformation situation of elastomeric material, and then calculate the size and Orientation of external force.Owing to this utility model is to calculate external force by image procossing, so this device is had little to no effect by electromagnetic interference.
Connecting cylinder: connecting cylinder is used for connecting and fix elastomeric material and binocular camera, is provided with LED in connecting cylinder, images light filling for binocular camera.Meanwhile, connecting cylinder provides a confined space to elastomeric material and binocular camera, makes force measuring device based on image recognition of the present utility model have the strongest anti-interference and environmental suitability, can be used for waiting under water the dynamometry of environment.
Image processing system: image processing system can select suitable processor according to actually used demand, for real-time reception and process binocular camera picked-up binocular vision image, and the size and Orientation that computing is exerted oneself further: first carry out camera parameter demarcation, the characteristic point dynamometry elastomer is found respectively from left and right camera after having demarcated, by the parameter demarcated before, calculate the three-dimensional coordinate of this feature point.Then, according to the three-dimensional coordinate of identification point each on dynamometry elastomer, we can set up the 3D rendering model of current dynamometry elastomer, analyzes the deformation situation of dynamometry elastomer, again according to the relation of dynamometry elastomer deformation with stress, the size and Orientation of testing force just can be calculated.
Principle of the present utility model: produce deformation during dynamometry elastomer stress in this utility model force measuring device based on image recognition, thus cause its surface identification point space coordinates to change；The binocular vision utilizing binocular camera can measure this three dimensional change amount, then calculates external force size and Orientation by the mode of image procossing.This utility model introduces the novel manner of image procossing, uses simple principle to achieve the simplification of force measuring device, cost degradation, and has good anti-interference, environmental suitability.
This utility model has such advantages as relative to prior art and effect:
1, this utility model can provide a kind of low manufacturing cost and the device for measuring force of low-maintenance cost.
2, this utility model utilizes simple principle, just can realize both having measured the size of power, measure again the direction of power.
3, this utility model is advantageously applied to power fields of measurement image procossing, has well development, improves and application prospect.
4, device for measuring force described in the utility model has the strongest environmental suitability, is highly resistant to the interference such as electromagnetism.
Accompanying drawing explanation
Fig. 1 is a kind of force measuring device image based on image recognition described in the utility model.
Fig. 2 is dynamometry elastomer schematic diagram described in the utility model.
Fig. 3 a is the top view of this utility model binocular camera.
Fig. 3 b is the sectional view of this utility model binocular camera.
Fig. 4 is that binocular camera fathoms principle schematic.
Fig. 5 is this utility model dynamometry protocol procedures figure.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, this utility model is described in further detail, but embodiment of the present utility model is not limited to this.
Embodiment
As shown in Figure 1, force measuring device based on image recognition described in the present embodiment, mainly include dynamometry elastomer 1, connecting cylinder 2, binocular camera 3, image recognition processor, as shown in Figure 2, described dynamometry elastomer is positioned at connecting cylinder one end, presenting hemispherical during non-stress, dynamometry elastomeric material can select flexibly according to using environment, has multi-environment adaptability；As shown in Figure 3 a and Figure 3 b shows, described binocular camera, is fixed on the other end of connecting cylinder；Described image recognition processor, for real-time reception and process the image that binocular camera is absorbed, draws the size and Orientation of external force.
Described a kind of based on image recognition force measuring device includes following functional unit:
Dynamometry elastomer: be positioned at connecting cylinder top, presents hemispherical during non-stress.Its surface scribbles uniform identification point according to certain rule, is used for positioning and identifying.When there being external force to be applied to it, the size that will produce Dish deformation, deformation quantity and external force can regard the Hooke's law meeting by stages as, therefore can calculate external force size according to deformation quantity.Deformation direction is consistent with external force, therefore can calculate external force direction.The selection of dynamometry elastomeric material, can select according to practical situations, such as under hot environment, and optional resistant to elevated temperatures elastomeric material；Under sour environment, optional acidproof elastomeric material.Therefore, this utility model has very strong adaptability to applied environment.When safeguarding after using a period of time, only need to change elastomeric material, therefore maintenance cost is extremely low.
Binocular camera: be fixed on the connecting cylinder other end, with the status image of real time shooting elastomeric material, and can be sent to image recognition processor.The 3D rendering model of elastomeric material can be drawn within a processor, analyze the deformation situation of elastomeric material, and then calculate the size and Orientation of external force.Owing to this utility model is to calculate external force by image procossing, so this device is had little to no effect by electromagnetic interference.
Connecting cylinder: connecting cylinder is used for connecting and fix elastomeric material and binocular camera, is provided with LED in connecting cylinder, images light filling for binocular camera.Meanwhile, connecting cylinder provides a confined space to elastomeric material and binocular camera, and this device can be made more to have anti-interference and environmental suitability, can be used for waiting under water the dynamometry of environment.
Image processing system: image processing system can select suitable processor according to actually used demand, for real-time reception and process binocular camera picked-up binocular vision image, and the size and Orientation that computing is exerted oneself further: first carry out camera parameter demarcation, the characteristic point dynamometry elastomer is found respectively from left and right camera after having demarcated, by the parameter demarcated before, calculate the three-dimensional coordinate of this feature point.Then, according to the three-dimensional coordinate of identification point each on dynamometry elastomer, we can set up the 3D rendering model of current dynamometry elastomer, analyzes the deformation situation of dynamometry elastomer, again according to the relation of dynamometry elastomer deformation with stress, the size and Orientation of testing force just can be calculated.
Described a kind of based on image recognition force measuring device, as shown in Figure 4, utilizes the relation that triangle is similar, and the formula that can derive the binocular camera surveying marker point degree of depth is as follows:
In formula, Z represents the degree of depth of index point distance photographic head, and f represents the focal length of photographic head, and T is dual camera centre distance, and d represents index point parallax of the lateral coordinates of imaging on the width view of left and right two.
As it is shown in figure 5, described a kind of based on image recognition force measuring device, the measurement process measuring external force size is following (assuming that force application object is point cantact with contacting of dynamometry elastomer):
First, utilizing high accuracy device for measuring force, identification point each on dynamometry elastomer is each set up a two-dimensional table, table content is this identification point stiffness factor in different intervals.Each identification point stiffness factor K in different displacement intervals can be measured according to equation below:
K (x, x+ Δ x)=F (x+ Δ x)/(x+ Δ x),
Wherein, x is dynamometry elastomer displacement, and Δ x is interval, and (x+ Δ x) is that dynamometry elastomer is at the stress intensity that displacement is at x+ Δ x to F.As long as choosing suitable interval Δ x, we can be approximately considered interval (in x, x+ Δ x), the stiffness factor of dynamometry elastomer is constant, therefore (x, x+ Δ x) is exactly that dynamometry elastomer is at the interval (stiffness factor in x, x+ Δ x) to K.Measure each identification point stiffness factor in each displacement interval by above method, record in form, be stored in the storage area of image processing system for consulting later.
Dynamometry elastomer is when dynamometry, and external force will make dynamometry elastomer produce deformation.Utilize binocular camera can obtain the space coordinates of each identification point on dynamometry elastomer.We choose the minimum point of recess as stress point, then calculate the shift value of stress point.And the form set up in previous step according to shift value checks in the stiffness factor in this interval, and then according to formula F=K × x, calculate to obtain the size of external force.
As shown in Figure 4, described a kind of based on image recognition force measuring device, the principle measuring external force direction is as follows:
Dynamometry elastomer is when dynamometry, and external force will make dynamometry elastomer produce deformation.Utilize binocular camera can obtain the space coordinates of each identification point on dynamometry elastomer.We choose the minimum point of recess as stress point.
Stress point current location is the direction of power with the line of the position of this identification point when not stressing.
Above-described embodiment is this utility model preferably embodiment; but embodiment of the present utility model is also not restricted to the described embodiments; other any without departing from the change made under spirit of the present utility model and principle, modify, substitute, combine, simplify; all should be the substitute mode of equivalence, within being included in protection domain of the present utility model.
Claims (1)
1. a force measuring device based on image recognition, it is characterised in that including: dynamometry elastomer, connecting cylinder, binocular camera and image recognition processor；Described dynamometry elastomer is positioned at one end of connecting cylinder, and described dynamometry elastomer is hemispherical when non-stress；Described binocular camera is fixed on the other end of connecting cylinder；Described image recognition processor is for real-time reception and processes the image that binocular camera is absorbed, and draws the size and Orientation of external force；
The surface of described dynamometry elastomer scribbles uniform identification point, and described identification point is used for positioning and identifying；Produce Dish deformation when there being external force to be applied to it, the deformation quantity of described Dish deformation and the size of external force are considered as meeting the Hooke's law of by stages, calculate external force size according to deformation quantity；The deformation direction of described Dish deformation is external force direction；The material of described dynamometry elastomer selects according to practical situations；
The status image of described binocular camera real time shooting elastomeric material, and it is sent to image recognition processor；In image recognition processor, draw the 3D rendering model of elastomeric material, analyze the deformation situation of elastomeric material, calculate the size and Orientation of external force according to the deformation situation analyzed；
Described connecting cylinder is used for fixing elastomeric material and binocular camera, is provided with LED in connecting cylinder, and described LED images light filling for binocular camera；Meanwhile, connecting cylinder provides a confined space to elastomeric material and binocular camera；
Described image recognition processor is according to real-time reception and processes the binocular vision image that binocular camera is absorbed, and calculates the size and Orientation of external force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520977936.XU CN205426389U (en) | 2015-11-30 | 2015-11-30 | Force measuring device based on image recognition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520977936.XU CN205426389U (en) | 2015-11-30 | 2015-11-30 | Force measuring device based on image recognition |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205426389U true CN205426389U (en) | 2016-08-03 |
Family
ID=56535697
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520977936.XU Expired - Fee Related CN205426389U (en) | 2015-11-30 | 2015-11-30 | Force measuring device based on image recognition |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205426389U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109682445A (en) * | 2018-11-30 | 2019-04-26 | 华夏天信（北京）智能低碳技术研究院有限公司 | Belt conveyor based on video analysis is instantaneously opposite to convey measuring method |
| CN110514330A (en) * | 2019-08-08 | 2019-11-29 | 西安中星测控有限公司 | A kind of passive two-dimensional code pressure sensor and preparation method thereof |
| CN110514329A (en) * | 2019-08-08 | 2019-11-29 | 西安中星测控有限公司 | A kind of passive two-dimensional code load transducer and preparation method thereof |
-
2015
- 2015-11-30 CN CN201520977936.XU patent/CN205426389U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109682445A (en) * | 2018-11-30 | 2019-04-26 | 华夏天信（北京）智能低碳技术研究院有限公司 | Belt conveyor based on video analysis is instantaneously opposite to convey measuring method |
| CN109682445B (en) * | 2018-11-30 | 2020-07-03 | 华夏天信（北京）智能低碳技术研究院有限公司 | Method for measuring instantaneous relative conveying capacity of belt conveyor based on video analysis |
| CN110514330A (en) * | 2019-08-08 | 2019-11-29 | 西安中星测控有限公司 | A kind of passive two-dimensional code pressure sensor and preparation method thereof |
| CN110514329A (en) * | 2019-08-08 | 2019-11-29 | 西安中星测控有限公司 | A kind of passive two-dimensional code load transducer and preparation method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105318994B (en) | A kind of force measuring device based on image recognition | |
| CN205426389U (en) | Force measuring device based on image recognition | |
| CN104048744A (en) | Non-contact real-time online vibration measurement method based on images | |
| CN107121090A (en) | A kind of method for fast measuring of 3D bend glasses | |
| CN107016697B (en) | A kind of height measurement method and device | |
| RU2012105634A (en) | TENSOMETRIC SENSOR AND SYSTEM FOR DETERMINING THE SPATIAL POSITION OF SUCH SENSORS | |
| CN104729665A (en) | Flexible cantilever slab vibration detection device and method based on binocular vision | |
| CN106500832A (en) | A kind of low-frequency vibration calibrating installation based on machine vision | |
| CN104089697A (en) | Real-time online visual vibration measurement method based on thread pool concurrent technology | |
| CN102175166A (en) | Device for detecting thickness of oil film between cylinder sleeve and piston ring of diesel engine | |
| CN106017834A (en) | Non-contact modality testing method, device, and system | |
| CN1776358A (en) | Newmethod for contactless measuring displacement and deformation of object in three-dimensional space | |
| CN107020634A (en) | A kind of radio frequency connector puts together machines the control system of people | |
| CN109060285A (en) | A kind of detection device and method of helical spring dynamic vibration characteristics | |
| CN105865316B (en) | For detecting the measuring scale of surface of concrete structure flatness | |
| CN203464909U (en) | Roughness or surface microstructure profile measuring instrument | |
| CN103673971B (en) | Backlight source flatness detecting jig and backlight source flatness detecting method | |
| WO2021147191A1 (en) | Strain mode analysis method and related device | |
| CN104374324B (en) | Displacement measuring device based on image recognition | |
| CN113219157B (en) | Landslide physical model force and displacement information monitoring system and method | |
| CN103644894A (en) | Method for object identification and three-dimensional pose measurement of complex surface | |
| CN109597005B (en) | Space magnetic field measurement system based on visual positioning | |
| CN104849030B (en) | Connecting rod dynamic load test device for reciprocating-piston engine | |
| CN103358230A (en) | Measuring system for honing machine and measuring method | |
| CN108006014B (en) | Oil cylinder stroke measuring device and its measurement method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160803 Termination date: 20191130 |